Yong Ma

Bio: Yong Ma is an academic researcher from Wuhan University of Technology. The author has contributed to research in topics: Computer science & Control system. The author has an hindex of 11, co-authored 35 publications receiving 427 citations. Previous affiliations of Yong Ma include Huazhong University of Science and Technology.

Multi-objective path planning for unmanned surface vehicle with currents effects.

Abstract: This paper investigates the path planning problem for unmanned surface vehicle (USV), wherein the goal is to find the shortest, smoothest, most economical and safest path in the presence of obstacles and currents, which is subject to the collision avoidance, motion boundaries and velocity constraints. We formulate this problem as a multi-objective nonlinear optimization problem with generous constraints. Then, we propose the dynamic augmented multi-objective particle swarm optimization algorithm to achieve the solution. With our approach, USV can select the ideal path from the Pareto optimal paths set. Numerical simulations verify the effectiveness of our formulated model and proposed algorithm.

Adaptive event‐triggered control for nonlinear discrete‐time systems

Abstract: Summary This paper focuses on the analysis and the design of event-triggering scheme for discrete-time systems. Both static event-triggering scheme (SETS) and adaptive event-triggering scheme (AETS) are presented for discrete-time nonlinear and linear systems. What makes AETS different from SETS is that an auxiliary dynamic variable satisfying a certain difference equation is incorporated into the event-triggering condition. The sufficient conditions of asymptotic stability of the closed-loop event-triggered control systems under both two triggering schemes are given. Especially, for the linear systems case, the minimum time between two consecutive control updates is discussed. Also, the quantitative relation among the system parameters, the preselected triggering parameters in AETS, and a quadratic performance index are established. Finally, the effectiveness and respective advantage of the proposed event-triggering schemes are illustrated on a practical example. Copyright © 2016 John Wiley & Sons, Ltd.

Event-Triggered Adaptive Neural Fault-Tolerant Control of Underactuated MSVs With Input Saturation

Abstract: This paper investigates the tracking control problem of marine surface vessels (MSVs) in the presence of uncertain dynamics and external disturbances. The facts that actuators are subject to undesirable faults and input saturation are taken into account. Benefiting from the smoothness of the Gaussian error function, a novel saturation function is introduced to replace each nonsmooth actuator saturation nonlinearity. Applying the hand position approach, the original motion dynamics of underactuated MSVs are transformed into a standard integral cascade form so that the vector design method can be used to solve the control problem for underactuated MSVs. By combining the neural network technique and virtual parameter learning algorithm with the vector design method, and introducing an event triggering mechanism, a novel event-triggered indirect neuroadaptive fault-tolerant control scheme is proposed, which has several notable characteristics compared with most existing strategies: 1) it is not only robust and adaptive to uncertain dynamics and external disturbances but is also tolerant to undesirable actuator faults and saturation; 2) it reduces the acting frequency of actuators, thereby decreasing the mechanical wear of the MSV actuators, via the event-triggered control (ETC) technique; 3) it guarantees stable tracking without the a priori knowledge of the dynamics of the MSVs, external disturbances or actuator faults; and 4) it only involves two parameter adaptations--a virtual parameter and a lower bound on the uncertain gains of the actuators--and is thus more affordable to implement. On the basis of the Lyapunov theorem, it is verified that all signals in the tracking control system of the underactuated MSVs are bounded. Finally, the effectiveness of the proposed control scheme is demonstrated by simulations and comparative results.

Fault Detection Filter and Controller Co-Design for Unmanned Surface Vehicles Under DoS Attacks

Abstract: This paper addresses the co-design problem of a fault detection filter and controller for a networked-based unmanned surface vehicle (USV) system subject to communication delays, external disturbance, faults, and aperiodic denial-of-service (DoS) jamming attacks. First, an event-triggering communication scheme is proposed to enhance the efficiency of network resource utilization while counteracting the impact of aperiodic DoS attacks on the USV control system performance. Second, an event-based switched USV control system is presented to account for the simultaneous presence of communication delays, disturbance, faults, and DoS jamming attacks. Third, by using the piecewise Lyapunov functional (PLF) approach, criteria for exponential stability analysis and co-design of a desired observer-based fault detection filter and an event-triggered controller are derived and expressed in terms of linear matrix inequalities (LMIs). Finally, the simulation results verify the effectiveness of the proposed co-design method. The results show that this method not only ensures the safe and stable operation of the USV but also reduces the amount of data transmissions.

Stabilization of Neural-Network-Based Control Systems via Event-Triggered Control With Nonperiodic Sampled Data

Abstract: This paper focuses on a problem of event-triggered stabilization for a class of nonuniformly sampled neural-network-based control systems (NNBCSs). First, a new event-triggered data transmission mechanism is designed based on the nonperiodic sampled data. Different from the previous works, the proposed triggering scheme enables the NNBCSs design to enjoy the advantages of both nonuniform and event-triggered sampling schemes. Second, under the nonperiodic event-triggered data transmission scheme, the nonperiodic sampled-data three-layer fully connected feedforward neural-network (TLFCFFNN)-based event-triggered controller is constructed, and the resulting closed-loop TLFCFFNN-based event-triggered control system is modeled as a state delay system based on time-delay system modeling approach. Then, the stability criteria for the closed-loop system is formulated using Lyapunov–Krasovskii functional approach. Third, the sufficient conditions for the codesign of the TLFCFFNN-based controller and triggering parameters are given in terms of solvability of matrix inequalities to guarantee the asymptotical stability of the closed-loop system and an upper bound on the given cost function while reducing the updates of the controller. Finally, three numerical examples are provided to illustrate the effectiveness and benefits of the proposed results.

Resilient Event-Triggered Controller Synthesis of Networked Control Systems Under Periodic DoS Jamming Attacks

Abstract: In this paper, the event-based controller synthesis problem for networked control systems under the resilient event-triggering communication scheme (RETCS) and periodic denial-of-service (DoS) jamming attacks is studied. First, a new periodic RETCS is designed under the assumption that the DoS attacks imposed by power-constrained pulsewidth-modulated jammers are partially identified, that is, the period of the jammer and a uniform lower bound on the jammer’s sleeping periods are known. Second, a new state error-dependent switched system model is constructed, including the impacts of the RETCS and DoS attacks. According to this new model, the exponential stability criteria are derived by using the piecewise Lyapunov functional. In these criteria, the relationship among DoS parameters, the triggering parameters, the sampling period, and the decay rate is quantitatively characterized. Then, a criterion is also proposed to obtain the explicit expressions of the triggering parameter and event-based state feedback controller gain simultaneously. Finally, the obtained theoretical results are verified by a satellite yaw-angles control system.

Synchronization Control for A Class of Discrete Time-Delay Complex Dynamical Networks: A Dynamic Event-Triggered Approach

Abstract: This paper is concerned with the synchronization control problem for a class of discrete time-delay complex dynamical networks under a dynamic event-triggered mechanism. For the efficiency of energy utilization, we make the first attempt to introduce a dynamic event-triggering strategy into the design of synchronization controllers for complex dynamical networks. A new discrete-time version of the dynamic event-triggering mechanism is proposed in terms of the absolute errors between control input updates. By constructing an appropriate Lyapunov functional, the dynamics of each network node combined with the introduced event-triggering mechanism are first analyzed, and a sufficient condition is then provided under which the synchronization error dynamics is exponentially ultimately bounded. Subsequently, a set of the desired synchronization controllers is designed by solving a matrix inequality. Finally, a simulation example is provided to verify the effectiveness of the proposed dynamic event-triggered synchronization control scheme.

An Overview of Recent Advances in Coordinated Control of Multiple Autonomous Surface Vehicles

Abstract: Autonomous surface vehicles (ASVs) are marine vessels capable of performing various marine operations without a crew in a variety of cluttered and hostile water/ocean environments For complex missions, there are increasing needs for deploying a fleet of ASVs instead of a single one to complete difficult tasks Cooperative operations with a fleet of ASVs offer great advantages with enhanced capability and efficacy Despite various application potentials, coordinated motion control of ASVs pose great challenges due to the multiplicity of ASVs, complexity of intravehicle interactions and fleet formation with collision avoidance requirements, and scarcity of communication bandwidths in sea environments Coordinated control of multiple ASVs has received considerable attention in the last decade This article provides an overview of recent advances in coordinated control of multiple ASVs First, some challenging issues and scenarios in motion control of ASVs are presented Next, coordinated control architecture and methods of multiple ASVs are briefly discussed Then, recent results on trajectory-guided, path-guided, and target-guided coordinated control of multiple ASVs are reviewed in detail Finally, several theoretical and technical issues are suggested to direct future investigations including network-based coordination, event-triggered coordination, collision-free coordination, optimization-based coordination, data-driven coordination of ASVs, and task-region-oriented coordination of multiple ASVs and autonomous underwater vehicles

Dynamic Event-Triggered and Self-Triggered Control for Multi-agent Systems

Abstract: We propose two novel dynamic event-triggered control laws to solve the average consensus problem for first-order continuous-time multiagent systems over undirected graphs. Compared with the most existing triggering laws, the proposed laws involve internal dynamic variables, which play an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Moreover, some existing triggering laws are special cases of ours. For the proposed self-triggered algorithm, continuous agent listening is avoided as each agent predicts its next triggering time and broadcasts it to its neighbors at the current triggering time. Thus, each agent only needs to sense and broadcast at its triggering times, and to listen to and receive incoming information from its neighbors at their triggering times. It is proved that the proposed triggering laws make the state of each agent converge exponentially to the average of the agents’ initial states if and only if the underlying graph is connected. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.