Output feedback robust synchronization of networked Lur'e Systems with incrementally passive nonlinearities

In this paper we deal with robust synchronization problems for uncertain dynamical networks of identical Lur’e systems diffusively interconnected by means of measurement outputs. In contrast to stabilization of one single Lur’e system with a passive static nonlinearity in the negative feedback loop, in the present paper the feedback nonlinearities are assumed to be incrementally passive. We assume that the interconnection topologies among these Lur’e agents are undirected and con- nected throughout this paper. A distributed dynamical protocol is proposed. We establish sufficient conditions for the existence of such protocol that robustly synchronizes the Lur’e dynamical network. The protocol parameter matrices are computed in terms of the system matrices defining the individual agent, but also the second smallest and largest eigenvalues of the Laplacian matrix associated with the interconnection topology

Output feedback robust synchronization of networked Lur'e Systems with incrementally passive nonlinearities

In this paper we deal with robust synchronization problems for uncertain dynamical networks of identical Lur’e systems diffusively interconnected by means of measurement outputs. In contrast to stabilization of one single Lur’e system with a passive static nonlinearity in the negative feedback loop, in the present paper the feedback nonlinearities are assumed to be incrementally passive. We assume that the interconnection topologies among these Lur’e agents are undirected and con- nected throughout this paper. A distributed dynamical protocol is proposed. We establish sufficient conditions for the existence of such protocol that robustly synchronizes the Lur’e dynamical network. The protocol parameter matrices are computed in terms of the system matrices defining the individual agent, but also the second smallest and largest eigenvalues of the Laplacian matrix associated with the interconnection topology

Controller Synthesis of Multi-Axial Robotic System Used for Wearable Devices

Wearable devices are commonly used in different fields to help improving performance of movements for different groups of users. The long-term goal of this study is to develop a low-cost assistive robotic device that allows patients to perform rehabilitation activities independently and reproduces natural movement to help stroke patients and elderly adults in their daily activities while moving their arms. In the past few decades, various types of wearable robotic devices have been developed to assist different physical movements. Among different types of actuators, the twisted-string actuation system is one of those that has advantages of light-weight, low cost, and great portability. In this study, a dual twisted-string actuator is used to drive the joints of the prototype assistive robotic device. To compensate the asynchronous movement caused by nonlinear factors, a hybrid controller that combines fuzzy logic rules and linear PID control algorithm was adopted to compensate for both tracking and synchronization of the two actuators.;In order to validate the performance of proposed controllers, the robotic device was driven by an xPC Target machine with additional embedded controllers for different data acquisition tasks. The controllers were fine tuned to eliminate the inaccuracy of tracking and synchronization caused by disturbance and asynchronous movements of both actuators. As a result, the synthesized controller can provide a high precision when tracking simple actual human movements

Extended Dissipative Filter for Delayed T-S Fuzzy Network of Stochastic System with Packet Loss

This research investigates a time-varying delay-based adaptive event-triggered dissipative filtering problem for the interval type-2 (IT-2) Takagi-Sugeno (T-S) fuzzy networked stochastic system. The concept of extended dissipativity is used to solve the ,  and dissipative performances for (IT-2) T-S fuzzy stochastic systems in a unified manner. Data packet failures and latency difficulties are taken into account while designing fuzzy filters. An adaptive event-triggered mechanism is presented to efficiently control network resources and minimise excessive continuous monitoring while assuring the system’s efficiency with extended dissipativity. A new adaptive event triggering scheme is proposed which depends on the dynamic error rather than pre-determined constant threshold. A new fuzzy stochastic Lyapunov-Krasovskii Functional (LKF) using fuzzy matrices with higher order integrals is built based on the Lyapunov stability principle for mode-dependent filters. Solvability of such LKF leads to the formation of appropriate conditions in the form of linear matrix inequalities, ensuring that the resulting error mechanism is stable. In order to highlight the utility and perfection of the proposed technique, an example is presented

Digital Communication System with High Security and High Immunity

Today, security issues are increased due to huge data transmissions over communication media such as mobile phones, TV cables, online games, Wi-Fi and satellite transmission etc. for uses such as medical, military or entertainment. This creates a challenge for government and commercial companies to keep these data transmissions secure. Traditional secure ciphers, either block ciphers such as Advanced Encryption Standard (AES) or stream ciphers, are not fast or completely secure. However, the unique properties of a chaotic system, such as structure complexity, deterministic dynamics, random output response and extreme sensitivity to the initial condition, make it motivating for researchers in the field of communication system security. These properties establish an increased relationship between chaos and cryptography that create strong and fast cipher compared to conventional algorithms, which are weak and slow ciphers. Additionally, chaotic synchronisation has sparked many studies on the application of chaos in communication security, for example, the chaotic synchronisation between two different systems in which the transmitter (master system) is driving the receiver (slave system) by its output signal. For this reason, it is essential to design a secure communication system for data transmission in noisy environments that robust to different types of attacks (such as a brute force attack). In this thesis, a digital communication system with high immunity and security, based on a Lorenz stream cipher chaotic signal, has been perfectly applied. A new cryptosystem approach based on Lorenz chaotic systems was designed for secure data transmission. The system uses a stream cipher, in which the encryption key varies continuously in a chaotic manner. Furthermore, one or more of the parameters of the Lorenz generator is controlled by an auxiliary chaotic generator for increased security. In this thesis, the two Lorenz chaotic systems are called the Main Lorenz Generator and the Auxiliary Lorenz Generator. The system was designed using the SIMULINK tool. The system performance in the presence of noise was tested, and the simulation results are provided. Then, the clock-recovery technique is presented, with real-time results of the clock recovery. The receiver demonstrated its ability to recover and lock the clock successfully. Furthermore, the technique for synchronisation between two separate FPGA boards (transmitter and receiver) is detailed, in which the master system transmits specific data to trigger a slave system in order to run synchronously. The real-time results are provided, which show the achieved synchronisation. The receiver was able to recover user data without error, and the real-time results are listed. The randomness test (NIST) results of the Lorenz chaotic signals are also given. Finally, the security analysis determined the system to have a high degree of security compared to other communication systems

Digital Communication System with High Security and High Immunity

Today, security issues are increased due to huge data transmissions over communication media such as mobile phones, TV cables, online games, Wi-Fi and satellite transmission etc. for uses such as medical, military or entertainment. This creates a challenge for government and commercial companies to keep these data transmissions secure. Traditional secure ciphers, either block ciphers such as Advanced Encryption Standard (AES) or stream ciphers, are not fast or completely secure. However, the unique properties of a chaotic system, such as structure complexity, deterministic dynamics, random output response and extreme sensitivity to the initial condition, make it motivating for researchers in the field of communication system security. These properties establish an increased relationship between chaos and cryptography that create strong and fast cipher compared to conventional algorithms, which are weak and slow ciphers. Additionally, chaotic synchronisation has sparked many studies on the application of chaos in communication security, for example, the chaotic synchronisation between two different systems in which the transmitter (master system) is driving the receiver (slave system) by its output signal. For this reason, it is essential to design a secure communication system for data transmission in noisy environments that robust to different types of attacks (such as a brute force attack). In this thesis, a digital communication system with high immunity and security, based on a Lorenz stream cipher chaotic signal, has been perfectly applied. A new cryptosystem approach based on Lorenz chaotic systems was designed for secure data transmission. The system uses a stream cipher, in which the encryption key varies continuously in a chaotic manner. Furthermore, one or more of the parameters of the Lorenz generator is controlled by an auxiliary chaotic generator for increased security. In this thesis, the two Lorenz chaotic systems are called the Main Lorenz Generator and the Auxiliary Lorenz Generator. The system was designed using the SIMULINK tool. The system performance in the presence of noise was tested, and the simulation results are provided. Then, the clock-recovery technique is presented, with real-time results of the clock recovery. The receiver demonstrated its ability to recover and lock the clock successfully. Furthermore, the technique for synchronisation between two separate FPGA boards (transmitter and receiver) is detailed, in which the master system transmits specific data to trigger a slave system in order to run synchronously. The real-time results are provided, which show the achieved synchronisation. The receiver was able to recover user data without error, and the real-time results are listed. The randomness test (NIST) results of the Lorenz chaotic signals are also given. Finally, the security analysis determined the system to have a high degree of security compared to other communication systems