Foundations of Robotics presents the fundamental concepts and methodologies for the analysis, design, and control of robot manipulators It explains the physical meaning of the concepts and equations used, and it provides, in an intuitively clear way, the necessary background in kinetics, linear algebra, and control theory Illustrative examples appear throughoutThe author begins by discussing typical robot manipulator mechanisms and their controllers He then devotes three chapters to the analysis of robot manipulator mechanisms He covers the kinematics of robot manipulators, describing the motion of manipulator links and objects related to manipulation A chapter on dynamics includes the derivation of the dynamic equations of motion, their use for control and simulation and the identification of inertial parameters The final chapter develops the concept of manipulabilityThe second half focuses on the control of robot manipulators Various position-control algorithms that guide the manipulator's end effector along a desired trajectory are described Two typical methods used to control the contact force between the end effector and its environments are detailed For manipulators with redundant degrees of freedom, a technique to develop control algorithms for active utilization of the redundancy is described Appendixes give compact reviews of the function atan2, pseudo inverses, singular-value decomposition, and Lyapunov stability theoryTsuneo Yoshikawa teaches in the Division of Applied Systems Science in Kyoto University's Faculty of Engineering

Foundations of robotics : analysis and control

Multi-agent systems (MASs) are typically composed of multiple smart entities with independent sensing, communication, computing, and decision-making capabilities. Nowadays, MASs have a wide range of applications in smart grids, smart manufacturing, sensor networks, and intelligent transportation systems. Control of the MASs are often coordinated through information interaction among agents, which is one of the most important factors affecting coordination and cooperation performance. However, unexpected physical faults and cyber attacks on a single agent may spread to other agents via information interaction very quickly, and thus could lead to severe degradation of the whole system performance and even destruction of MASs. This paper is concerned with the safety/security analysis and synthesis of MASs arising from physical faults and cyber attacks, and our goal is to present a comprehensive survey on recent results on fault estimation, detection, diagnosis and fault-tolerant control of MASs, and cyber attack detection and secure control of MASs subject to two typical cyber attacks. Finally, the paper concludes with some potential future research topics on the security issues of MASs.

Physical Safety and Cyber Security Analysis of Multi-Agent Systems: A Survey of Recent Advances

This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks (VANETs) subject to finite communication resource. First, a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input. Under such a platoon model, the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader, while attaining improved communication efficiency. Toward this aim, a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed. One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status. Then, a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived. Finally, simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.

Dynamic Event-Triggered Scheduling and Platooning Control Co-Design for Automated Vehicles Over Vehicular Ad-Hoc Networks

In industrial environments, over several decades, Automated Guided Vehicles (AGVs) and Autonomous Mobile Robots (AMRs) have served to improve efficiencies of intralogistics and material handling tasks. However, for system integrators, the choice and effective deployment of improved, suitable and reliable communication and control technologies for these unmanned vehicles remains a very challenging task. Specifics of communication for AGVs and AMRs imposes stringent performance requirements on latency and reliability of communication links which many existing wireless technologies struggle to satisfy. In this paper, a review of latest AGVs and AMRs research results in the past decade is presented. The review encompasses results from different past and present research domains of AGVs. In addition, performance requirements of communication networks in terms of their latencies and reliabilities when they are deployed for AGVs and AMRs coordination, control and fleet management in smart manufacturing environments are discussed. Integration challenges and limitations of present state-of-the-art AGV and AMR technologies when those technologies are used for facilitating AGV-based smart manufacturing and factory of the future applications are also thoroughly discussed. The paper also present a thorough discussion of areas in need of further research regarding the application of 5G networks for AGVs and AMRs fleet management in smart manufacturing environments. In addition, novel integration ideas by which tactile Internet, 5G network slicing and virtual reality applications can be used to facilitate AGV and AMR based factory of the future (FoF) and smart manufacturing applications were motivated.

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A Review of Recent Advances in Automated Guided Vehicle Technologies: Integration Challenges and Research Areas for 5G-Based Smart Manufacturing Applications

This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks (VANETs) subject to finite communication resource. First, a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control input. Under such a platoon model, the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader, while attaining improved communication efficiency. Toward this aim, a novel bandwidth-aware dynamic event-triggered scheduling mechanism is developed. One salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth status. Then, a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are derived. Finally, simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency. 

This work analyzes the adverse effects of cyber-physical attacks on discrete-time distributed multi-agent systems, and proposes a mitigation approach for attacks on sensors and actuators. First, we show how an attack on a single node snowballs into a network-wide attack and even destabilizes the entire system. Next, to overcome the adversarial effects of attacks on sensors and actuators, a distributed adaptive attack compensator is designed by estimating the normal expected behavior of agents. The adaptive attack compensator is augmented with the controller and it is shown that the proposed controller achieves secure consensus in the presence of the attacks on sensors and actuators. No restrictive assumption on the number of agents under adversarial input is assumed. Moreover, it recovers compromised agents under actuator attacks and avoids propagation of attacks on sensors without discarding information from the compromised agents. Finally, numerical simulations validate the effectiveness of the presented theoretical contributions on a network of Sentry autonomous underwater vehicles.

Attack Analysis and Resilient Control Design for Discrete-Time Distributed Multi-Agent Systems

This paper presents a resilient control framework for distributed frequency and voltage control of AC microgrids under data manipulation attacks. In order for each distributed energy resource (DER) to detect any misbehavior on its neighboring DERs, an attack detection mechanism is first presented using a Kullback-Liebler (KL) divergence-based criterion. An attack mitigation technique is then proposed that utilizes the calculated KL divergence factors to determine trust values indicating the trustworthiness of the received information. Moreover, DERs continuously generate a self-belief factor and communicate it with their neighbors to inform them of the validity level of their own outgoing information. DERs incorporate their neighbors’ self-belief and their own trust values in their control protocols to slow down and mitigate attacks. It is shown that the proposed cyber-secure control effectively distinguishes data manipulation attacks from legitimate events. The performance of proposed secure frequency and voltage control techniques is verified through the simulation of microgrid tests system implemented on IEEE 34-bus test feeder with six DERs.

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Detection and Mitigation of Data Manipulation Attacks in AC Microgrids

In this paper, an event-triggered sliding mode control approach for trajectory tracking problem of nonlinear input affine system with disturbance has been proposed. A second order robotic manipulator system has been modeled into a general nonlinear input affine system. Initially, the global asymptotic stability is ensured with conventional periodic sampling approach for reference trajectory tracking. Then the proposed approach of event-triggered sliding mode control is discussed which guarantees semi-global uniform ultimate boundedness. The proposed control approach guarantees non-accumulation of control updates ensuring lower bounds on inter-event triggering instants avoiding Zeno behavior in presence of the disturbance. The system shows better performance in terms of reduced control updates, ensures system stability which further guarantees optimization of resource usage and cost. The simulation results are provided for validation of proposed methodology for tracking problem by a robotic manipulator. The number of aperiodic control updates is found to be approximately 44&#x0025 and 61&#x0025 in the presence of constant and time-varying disturbances respectively.

Event-triggered sliding mode control for trajectory tracking of nonlinear systems

Resilient synchronization of distributed multi-agent systems under attacks

https://par.nsf.gov/servlets/purl/10138913

Aquib Mustafa

Papers

Attack Analysis and Resilient Control Design for Discrete-Time Distributed Multi-Agent Systems

Detection and Mitigation of Data Manipulation Attacks in AC Microgrids

Event-triggered sliding mode control for trajectory tracking of nonlinear systems

Resilient synchronization of distributed multi-agent systems under attacks

Detection and mitigation of cyber-threats in the DC microgrid distributed control system