Related papers: Distributed control under compromised measurements…
An autonomous and resilient controller is proposed for leader-follower multi-agent systems under uncertainties and cyber-physical attacks. The leader is assumed non-autonomous with a nonzero control input, which allows changing the team…
The problem of leak detection in a pipeline with nonlinear friction is considered. A distributed observer-based method is proposed which applies a linearised, distributed adaptive observer design to the nonlinear model. The methodology is…
A simultaneous mode, input and state set-valued observer is proposed for hidden mode switched linear systems with bounded-norm noise and unknown input signals. The observer consists of two constituents: (i) a bank of mode-matched observers…
This paper discusses the problem of estimating the state of a linear time-invariant system when some of its sensors and actuators are compromised by an adversarial agent. In the model considered in this paper, the malicious agent attacks an…
This paper studies the distributed control and estimation of multi-agent systems based on bearing information. In particular, we consider two problems: (i) the distributed control of bearing-constrained formations using relative position…
A time-invariant, linear, distributed observer is described for estimating the state of an $m>0$ channel, $n$-dimensional continuous-time linear system of the form $ \dot{x} = Ax,\ y_i = C_i x,\ i \in \{1,2,\cdots, m\}$. The state $x$ is…
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
This paper concerns the consensus and formation of a network of mobile autonomous agents in adversarial settings where a group of malicious (compromised) agents are subject to deception attacks. In addition, the communication network is…
This paper investigates the asymptotical cooperative cruise fault tolerant control problem for multiple high-speed trains consisting of multiple carriages in the presence of actuator faults. A distributed state-fault observer utilizing the…
The adaptive distributed observer approach has been an effective tool for synthesizing a distributed control law for solving various control problems of leader-follower multiagent systems. However, the existing adaptive distributed observer…
Since it is impossible to predict and identify all the vulnerabilities of a network, and penetration into a system by malicious intruders cannot always be prevented, intrusion detection systems (IDSs) are essential entities for ensuring the…
Autonomous vehicles often perceive the environment by feeding sensor data to a learned detector algorithm, then feeding detections to a multi-object tracker that models object motions over time. Probabilistic models of multi-object trackers…
We study the performance of perception-based control systems in the presence of attacks, and provide methods for modeling and analysis of their resiliency to stealthy attacks on both physical and perception-based sensing. Specifically, we…
In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…
This paper deals with the state estimation problem in discrete-event systems modeled with nondeterministic finite automata, partially observed via a sensor measuring unit whose measurements (reported observations) may be vitiated by a…
This work addresses the design of a robust hybrid observer for discrete-time switched linear systems subject to unknown inputs and modeling errors. The observer herein proposed is synthesized, for the case when the active mode is unknown…
We develop a decentralized $H_\infty$ synthesis approach to detection of biasing misappropriation attacks on distributed observers. Its starting point is to equip the observer with an attack model which is then used in the design of attack…
In this work, a dynamic system is controlled by multiple sensor-actuator agents, each of them commanding and observing parts of the system's input and output. The different agents sporadically exchange data with each other via a common bus…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
This study addresses incident handling during an adverse event for dynamical networked control systems. Incident handling can be divided into five steps: detection, analysis, containment, eradication, and recovery. For networked control…