Yijing Wang

Independent Researcher · 2

This article addresses the differential privacy problem for second-order multiagent systems (MASs) over signed digraph. To this end, both position and velocity states are disturbed by Laplacian noise. As for structurally balanced case, necessary and sufficient conditions for almost sure bipartite consensus are presented, upon which an $\epsilon$...

This article investigates an event-triggered interval observer (ETIO) fault detection and isolation method for multiagent systems. First, an event-triggered mechanism is developed to reduce unnecessary communication transmission. Then, a distributed ETIO is designed by combining an interval observer and the proposed event-triggered mechanism. Furth...

This paper proposes an event-triggered sensor fault estimation method for lithium-ion battery packs with voltage and current sensor faults. First, an adaptive event-triggered mechanism is developed to alleviate communication resource cost. A sliding mode observer based on thermal and electrical models of lithium-ion batteries is designed to generat...

This paper presents a distributed model predictive control (DMPC) algorithm to achieve the combined longitudinal and lateral control of automated vehicle platoon on curved roads. To address the cutting-corner problem on roads with significant curvature changes, a path-coupled extended look-ahead (PELA) approach is proposed. This approach comprehens...

This paper proposes a surrogate-driven multi-objective predictive control (SMPC) strategy to address the dynamics uncertainty and multi-objective optimization issues of electric vehicular platoon (EVP). A surrogate-driven model is established with subspace identification to alleviate the adverse effects of uncertain dynamics for EVP. Then, a subspa...

Lane-changing is one of the typical maneuvers with high risk, which can cause uncomfortable brake and dangerous crash. An experienced human driver keeps an eye on surrounding vehicles, catches lane-changing hints and conducts deceleration in advance. To make the connected and automated vehicle (CAV) more like a skilled driver, it is significant to...

In this article, a fixed-time distributed control strategy is proposed for DC microgrids in the form of a single layer control architecture to reduce implementation complexity and improve dynamic performance. For parallel DC microgrids, the error dynamics of voltage and current are derived. Specifically, scale power sharing can be achieved, which a...

In this paper, an integrated planning and control strategy based on piecewise model predictive control (MPC) is developed to improve the efficiency of planning-control framework. First, a penalty term characterizing the influence of obstacles is merged into the heuristic function of A* algorithm. This enables the planned path to maintain navigabili...

This paper investigates the fault diagnosis scheme for parallel lithium-ion battery packs with main current sensor fault and battery internal resistance (BIR) fault. First of all, an equivalent circuit model of a single cell battery is established, which paves the way for constructing a state space model of parallel lithium-ion battery packs. Based...

This paper proposes a driver-centric data-driven model predictive control (DDMPC) strategy to improve driving comfort while maintaining driving safety of vehicular platoon. This strategy combines a data-driven model predictive controller and the driver-centric driving policy. The data-driven platoon model involving longitudinal-lateral dynamics is...

The penetration rate of automated vehicles (AVs) will remain unsaturated for a long period, leading to the coexistence of AVs and human-driven vehicles (HDVs), namely, mixed vehicular platoon (MVP). This paper proposes a novel user-centric multi-objective predictive control (UMPC) strategy to address dynamics uncertainty and multi-objective conflic...

The penetration rate of automated vehicles (AVs) may remain unsaturated for a long time, resulting in the coexistence of AVs and human-driven vehicles (HDVs). The non-ideal driving behavior has inherent uncertainties and randomness that would cause traffic congestion and oscillation. To improve the driving safety and comfort of mixed vehicular plat...

In this paper, a composite longitudinal controller for velocity regulation of unmanned ground vehicles (UGVs) is proposed. First, both the empirical model and mixed logical dynamic model are developed in terms of the experimental data processing method. Second, a composite longitudinal control strategy incorporating steady-state controller and acti...

This article proposes a novel data-driven gap metric fault detection and isolation (FDI) approach for small multiplicative fault. First, the scheme of model-based fault classification and gradation is developed by means of the gap metric. Subsequently, the data-driven gap metric is utilized to detect a small fault via the mechanism model. Furthermo...

This paper studies the bipartite containment control problem for a network of wave equations. A distributed sampled-data control protocol is proposed such that the follower states converge to a convex hull spanned by the leader trajectories and their opposites. A criterion for bipartite containment control is derived by applying the constructed Lya...

To alleviate the adverse effects of heterogeneous vehicular platoon (HVP) with uncertain dynamics, a distributed data-driven model predictive control (DDMPC) strategy is proposed in this paper. A data-driven model is established with subspace identification using the input-output (I/O) vehicle trajectory. We integrate the data-driven model with the...

For autonomous vehicles driving in a low-speed road environment like complex campus, there are several peculiarities such as two-way lanes, break-in obstacles, smaller safety margin, etc. In this paper, a novel maneuver-based trajectory planning scheme is designed for autonomous vehicles driving in a low-speed environment with uncertain dynamic obs...

Predicting the future trajectories of risky maneuvers such as cut-in is of great significance for intelligent vehicles to alarm potential crashes in advance. A more critical issue is the use of limited observable neighboring vehicles to achieve reliable trajectory prediction. Motivated by it, this paper studies the trajectory prediction for cut-in...

This paper is dedicated to the switched systems suffering asynchronous denial-of-service (DoS) attacks that compromise sensor–controller and controller–actuator channels independently. By taking into account the energy constraints, the duration of DoS attacks has different maximum bounds for different channels. To eliminate the negative effect of D...

In this paper, a switching longitudinal and lateral semi-decoupled active disturbance rejection control (ADRC) strategy is proposed for motion control of unmanned ground vehicles (UGVs). To characterize the coupling property between longitudinal and lateral dynamics, a switching longitudinal and lateral semi-coupled model is first developed. By uti...

This letter studies the secure state estimation problem for switched systems. The single/joint false data injection attacks are designed with the aim at altering the sensor signal and/or switching signal. Firstly, it is shown that the attack will steer system state to infinity but could be detectable by $\chi ^{2}$ detector when only the switchin...

Diagnosing potential faults is of great importance to ensure reliability of battery management systems. This is because a current or voltage sensor fault often results in an inaccurate state-of-charge estimate. A temperature sensor fault will cause abnormal thermal management. A battery internal resistance (BIR) fault can lead to an increase in ene...

In order to improve driving safety and achieve more accurate decisions and planning, autonomous vehicles are required to predict the future trajectories of the surrounding vehicles. In this paper, a novel trajectory prediction network with the fusion of historical interactive features is proposed. The encoder for interactive features based on the m...

This paper studies the security problem for switched systems when the sensor-to-controller and controller-to-actuator channels are compromised by cooperative attacks. The attack is expected to be as stealthy as possible, regardless of whether system mode is eavesdropped or not. The conditions that the attack sequence needs to meet are given, along...

In this article, a speed coupled lateral strategy is developed to enhance the tracking accuracy of unmanned ground vehicles (UGVs) with variable speed. The characteristics of UGVs are described in a linear parameter-varying (LPV) path-following model, where the speed variation is treated as parameter perturbation. Based on this, a model predictive...

In this paper, an anti-steering wheel inertia-lag controller with anti-peak extended state observer (ESO) is proposed for turning control of unmanned ground vehicles (UGVs). A composite modeling method is developed to get a more accurate parametric model such that the steering characteristics of UGVs can be described more reasonably. An anti-peak E...

The DC-DC converter severs as one of the crucial components in DC microgrid applications. In this paper, a novel low frequency current-mode control strategy is proposed to improve overshoot suppression performance for the boost converter against load current and source voltage disturbances. The control strategy is presented as a cascade dual-loop s...

In this paper, a novel robust output regulation control framework is proposed for the system subject to noise, modeled disturbance and unmodeled disturbance to seek tracking performance and robustness simultaneously. The output regulation scheme is utilized in the framework to track the reference in the presence of modeled disturbance, and the effe...

This article is concerned with the stability issue of networked switched systems which consist of only unstable subsystems subject to Denial of Service (DoS) attacks. The stability analysis of networked switched systems in the presence of DoS attacks under state‐dependent switching is first presented. It is shown that the derived restrictions which...

This paper deals with the global asymptotic stabilization problem for discontinuous nonlinear time‐varying switched systems in the sense of fractional‐order. Via the designed periodic switching law, some criteria are firstly developed. It is shown that the derivatives of the constructed Lyapunov functions are allowed to be indefinite. Several corol...

In this article, the scaled consensus issue for a network of wave partial differential equations is investigated in a directed communication setting, where the agent states approach the dictated ratios. To this end, a distributed protocol is proposed for the considered system. Then, a Lyapunov function is constructed to ensure scaled consensus, whe...

This paper investigates the bipartite consensus problem in mean square sense for multi-agent systems subject to multiplicative and additive noises using the event-triggered strategy. Since the control gain is time-varying and agent-dependent, the implementation of event-triggered control may cause desynchrony of the control gain and the time-variat...

In this article, the fixed-time formation-containment control is investigated for multi-agent systems with model uncertainties and external disturbances. First, a novel fixed-time varying gain extended state observer is developed to observe the states and the total disturbance of each formation-leader and follower. Then a fixed-time formation contr...

This article studies the stabilization problem for switched systems in the presence of denial-of-service (DoS) attack using the event-triggered scheme. Unlike the traditional switching signal design with DoS attack, some challenges arise in the joint influence on the constraints of DoS duration/frequency, and the asynchronous behavior caused by the...

Active disturbance rejection control (ADRC) is an effective technique to handle uncertainties. Extended state observer (ESO), as the key component of ADRC, is often introduced to estimate the states and the total disturbance. Some finite-time extended state observers (FTESOs) were studied to improve the estimation performance. However, the existing...

In this paper, a longitudinal control strategy in terms of model predictive control (MPC) and mass estimator is investigated for an autonomous electric vehicle (AEV). A driving force table (DFT) is established to represent the relationship among throttle opening, speed, and driving force. A mass estimator is designed to obtain the actual mass of AE...

Of particular interest in this paper is to study the active synchronization (act-synchronization) problem for double-integrator network systems without velocity information. To this end, scaling parameters are suggested to quantify the degree of act-synchronization for different agents. And weighted gains are employed to assure that there is a simp...

This article studies the zero‐dynamics attacks (ZDAs) issue for discrete‐time second‐order multi‐agent systems (MASs) in a directed interacting setting. It is shown that the consensus among interacting agents fails if the considered system is attacked by infinite number of ZDAs. As for the scenario of finite number of periodic ZDAs, the consensus v...

This paper deals with the stabilization problem for non-smooth variable-order Riemann-Liouville fractional switched systems with all modes unstable in the presence of unknown nonlinearity. A controller containing the discontinuous switching item and Riemann-Liouville fractional-order derivative term is firstly designed. By applying fractional order...

In this paper, the issue of state‐of‐charge balance and load voltage regulation of DC microgrids used in solar‐powered vehicles is investigated. The system consists of multiple distributed generation units, each of which is equipped with photovoltaic cells and energy storage systems. Based on the information shared among the neighbors, a single‐lay...

The stabilization problem for switched linear systems with quantization and event-triggered control is addressed in this article. The state information is quantized and transmitted to the controller. An event-triggered mechanism is presented in terms of the quantizer parameter. The updating law of the dynamic quantizer is suggested for the purpose...

This letter studies the security issue of switched systems suffering from disturbance and asynchronous denial of service (DoS) attacks. To this end, an active control strategy is presented to deal with the asynchronous DoS attacks. The switching signal is designed to guarantee the uniformly ultimate boundedness when the mismatched behavior between...

To alleviate the threat of communication failures, a formation control system (FCS) with multiple virtual leaders and semi-Markov switching topologies is proposed in this article. A time-varying formation tracking protocol with an error compensation term is introduced to mitigate the effects among the real leader and the virtual leaders. Sufficient...

In this paper, a hierarchical architecture is presented on the longitudinal control of unmanned ground vehicles (UGVs). A terminal constraint-free model predictive control (MPC) algorithm is developed as the upper controller to calculate the desired acceleration. For the lower controller, through modeling experiments, we establish a driving force t...

In this paper, the consensus issue of continuous-time first-order multi-agent systems (MASs) subject to asymmetric input saturation under the directed graph containing a directed spanning tree is investigated. First, a fully distributed consensus protocol is proposed. We discuss the scenario where there are zeros in the partial saturation bounds. B...

As multi-agent systems always involve a large number of nodes and connections, it is crucial to study the privacy preserving problem with minimal “corrupted” noise in the framework of differential privacy or noise-perturbation schemes. We first show that a moderate amount of noise is sufficient to ensure privacy as long as the minimal observability...

This paper studies the differential privacy-preserving problem for multi-agent systems (MASs) in the presence of antagonistic information over signed digraph. As for the structurally balanced case, an ε-differential privacy algorithm is proposed, upon which some sufficient conditions guaranteeing almost sure bipartite consensus are given. Based on...

This article proposes an integrated approach of model-based and data-driven gap metric fault detection and isolation in a stochastic framework. For actuator and sensor faults, an adaptive Kalman filter combining with the generalized likelihood ratio method is suggested. For component faults, especially incipient faults, the model-based scheme maybe...

This paper studies the bipartite consensus problem for a network of wave PDEs. The interactions among participating individuals may be antagonistic characterized by a signed digraph. Two distributed algorithms consisting of boundary sensing of the agents’ states are proposed for the disturbance-free and disturbed cases, respectively. Then Lyapunov...

This paper is dedicated to the stochastic bipartite consensus issue of discrete-time multi-agent systems subject to additive/multiplicative noise over antagonistic network, where a stochastic approximation time-varying gain is utilized for noise attenuation. The antagonistic information is characterized by a signed graph. We first show that the sem...

This paper presents a lateral control strategy with kinematic state error model-based predictive control and extended state observer for unmanned ground vehicles. Firstly, we propose a circular arc prediction technique to calculate the state of the reference system. Then, inspired by the idea of active disturbance rejection control, an extended sta...

Using an event-based switching law, we address the stability issue for continuous-time switched affine systems in the network environment. The state-dependent switching law in terms of the region function is firstly developed. We combine the region function with the event-triggering mechanism to construct the switching law. This can provide more ca...

Abstract This paper proposes a control strategy integrating the non‐linear extended state observer (NLESO) and the non‐singular terminal sliding mode control (NTSMC) for the trajectory tracking of wheeled mobile robots subject to bounded disturbances. A new transformation method of chained model in terms of Lie derivative is presented to simplify t...

A fixed-time control approach is investigated for the leader-follower formation tracking issue of wheeled mobile robots (WMRs) with prescribed performance in this brief. The nonlinear and underactuated model of the WMR is first transformed into a linear one with uncertainties and external disturbances. Then, a time-varying fixed-time extended state...

In this paper, a disturbance-observer-based control strategy is proposed for longitudinal control and lateral control of unmanned ground vehicles. A composite nonlinear extended state observer is put forward to estimate the total disturbance. A longitudinal dead-zone model is developed with actual constraints and rapidity requirements for unmanned...

In this article, the low frequency Lagrange stabilization issue is investigated for a pendulum‐like system. To this end, an H∞ control method is developed for converting the frequency‐domain stabilization condition into an H∞ norm bound requirement in low frequency domain. With the aid of a generalized Kalman‐Yakubovich‐Popov (KYP) lemma, time‐doma...

In this paper, the longitudinal control is investigated for an autonomous electric vehicle with a tracking differentiator. The autonomous electric vehicle is modelled as a longitudinal system for model predictive control. The tracking differentiator is proposed to obtain the transition profile and acceleration information. A dual-mode model predict...

In this article, we study the consensus problem in the framework of networked multiagent systems with constraint where there exists antagonistic information. A major difficulty is how to characterize the communication among the interacting agents in the presence of antagonistic information without resorting to the signed graph theory, which plays a...

This article studies the consensus problem of multiagent systems (MASs) subject to Denial-of-Service (DoS) attacks from the perspective of control. The considered DoS attacks blocking the information exchange in the group of agents pose limitations on the frequency and the duration of them. A distributed observer-based controller is proposed to rec...

In this article, we formulate a framework for the networked control systems over limited channels with a novel reference input and hysteresis quantizer based triggered control (RIHQBTC) method. Both hysteresis quantization and the network induced delay are considered and the finite‐gain stability is analyzed. By thoroughly exploring the structure o...

In this paper, we solve the stabilization problem of linear switched systems subject to external disturbances via an event‐based state‐dependent switching strategy. The proposed event‐triggered switching rule can relax the conditions which guarantee the stability of switched systems so as to attain more feasible solutions than the previous work. As...

A common trait involving the opinion dynamics in social networks is an anchor on interacting network to characterize the opinion formation process among participating social actors, such as information flow, cooperative and antagonistic influence, etc. Nevertheless, interacting networks are generally public for social groups, as well as other indiv...

In this paper, we investigate the distributed control problem for multi-agent systems (MASs) subject to multiplicative and additive noises over switching networks, where both cooperative and antagonistic interactions coexist. The communication topology is governed by a continuous-time Markovian chain. A stochastic approximation technique is utilize...

This paper deals with the global asymptotic stabilization and finite-time stabilization issues for variable-order fractional systems with partial a priori bounded disturbances by designing an appropriate adaptive controller. Via the inductive method and Arzela-Ascoli theorem, the existence and uniqueness of the solution for the considered system is...

In this paper, a composite nonlinear feedback controller with anti-windup extended state observer is proposed for path-following control of unmanned ground vehicles. To describe steering dynamics accurately, a saturation model with bounded disturbances is developed subject to path-following, lateral dynamic and steering capability. The anti-windup...

In this paper, we propose a progressive model predictive control scheme (PMPCS) by considering the cooperative control of local planning and path tracking for intelligent vehicles. An improved particle swarm optimization (IPSO) based model predictive control (MPC) method is developed to solve the planning and tracking problem. With the PMPCS, the t...

We consider the discrete-time distributed bipartite-consensus problem for multiagent systems subject to measurement noises and time-varying random networks, where the information exchange among the agents can be antagonistic and disturbed by both multiplicative and additive noises. The antagonistic information is characterized by a signed random gr...

This paper considers the dynamic output-based event-triggered strategy design for linear systems subject to input saturation. The dynamic event-triggered control reduces the communication burden, and a minimum inter-event time is explicitly provided to exclude Zeno behaviour. A dynamic linear anti-windup augmentation is presented to deal with the i...

The paper discusses the issue of global asymptotic stabilization for non-smooth variable order nonlinear switched systems with partial unstable modes. The existence and uniqueness of solution for the considered system is firstly verified by utilizing Gronwall–Bellman inequality and the inductive method. Then, a slow switching strategy is performed...

This article focuses on estimating the reachable set of discrete‐time switched linear systems with unknown disturbance. The discontinuous multiple Lyapunov function, which enables us to reduce the conservatism in the sense of mode‐dependent average dwell‐time, is proposed to estimate the underlying reachable set. The main difficulty of this problem...