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This paper deals with the problem of distributed fault detection and isolation in multi-agent systems with disturbed high-order dynamics subject to communication uncertainties and faults. Distributed finite-frequency mixed H - / H ∞ unknown input observers are designed to detect and distinguish actuator, sensor and communication faults. Furthermore, an agent is capable of detecting not only its own faults but also faults in its neighbouring agents. Sufficient conditions are then derived in terms of a set of linear matrix inequalities while adding additional design variables to reduce the conservatism. A numerical simulation is carried out in order to demonstrate the effectiveness of the proposed approach.

This paper is concerned with modelling cyclist road safety by considering various factors including infrastructure, spatial, personal and environmental variables affecting cycling safety. Age is one of the personal attributes, reported to be a significant critical variable affecting safety. However, very few works in the literature deal with such a problem or undertaking modelling of this variable. In this work, we propose a hybrid approach by combining statistical and supervised deep learning with neural network classifier, and gradient descent backpropagation error function for road safety investigation. The study area of Tyne and Wear County in the north-east of England is used as a case study. An accurate dynamic road safety model is constructed, and an understanding of the key parameters affecting the cyclist safety is developed. It is hoped that this research will help in reducing the cyclist crash and contribute towards sustainable integrated cycling transportation system, by making use of cut above methodologies such as deep learning neural network.

This paper develops an intelligent real-time learning framework for the last-mile delivery of mobility as a service in city planning, based upon safe infrastructure use. Through a hybrid approach integrating statistics and supervised machine learning techniques, knowledge-driven solutions based on the specific user rather than generalized safe mobility practices are suggested. One of the most important aspects influencing transport mode and route selection, and safe infrastructure usage, i.e., the age of the user, is simulated. This is because this variable has been described in the literature as a significant variable. Nonetheless, few works deal with such modelling or the learning system. The learning system was applied in the Northumbria region of England’s northeast as a case study. It comprised four building toolkits: (a) Input toolkit, (b) Safety Predictive toolkit, (c) Variable causation toolkit, and (d) Route choice toolkit. An accurate dynamic road safety model and understanding of the critical parameters influencing bicycle rider safety is created. The developed deep learning model’s average distinguishing power to reliably predict the riskiest age group was 95%, with a standard deviation of 0.02, suggesting a good prediction accuracy across all age groups. According to the study’s findings, different infrastructural networks represent varying risks to bicycle riders of different ages. The rider’s age impacts how other road users engage with them. The regional diversity in trip intent and traffic flow conditions were significant elements influencing the safe use of infrastructure for a specific age group. The study’s findings have the potential to considerably influence infrastructure route selection, modelling, and planning. The constructed model, which integrates the rider’s fragility, sensitivity to externalities, and the varied safety impact dependent on its features, may even be used for the infrastructure still in the planning/design phase. It is envisaged that this research would aid in adopting sustainable (green) transportation options and the last-mile delivery of mobility as a service. Future work should aim to uncover the sensitivities of a rider from different countries and make a baseline comparison scenario.

To create a safe bicycle infrastructure system, this article develops an intelligent embedded learning system using a combination of deep neural networks. The learning system is used as a case study in the Northumbria region in England’s northeast. It is made up of three components: (a) input data unit, (b) knowledge processing unit, and (c) output unit. It is demonstrated that various infrastructure characteristics influence bikers’ safe interactions, which is used to estimate the riskiest age and gender rider groups. Two accurate prediction models are built, with a male accuracy of 88 per cent and a female accuracy of 95 per cent. The findings concluded that different infrastructures pose varying levels of risk to users of different ages and genders. Certain aspects of the infrastructure are hazardous to all bikers. However, the cyclist’s characteristics determine the level of risk that any infrastructure feature presents. Following validation, the built learning system is interoperable under various scenarios, including current heterogeneous and future semi-autonomous and autonomous transportation systems. The results contribute towards understanding the risk variation of various infrastructure types. The study’s findings will help to improve safety and lead to the construction of a sustainable integrated cycling transportation system.

This paper is concerned with designing and numerically implementing a V2X (Vehicle-to-Vehicle and Vehicle-to-Infrastructure) control system architecture for a platoon of autonomous vehicles. The V2X control architecture integrates the well-known Intelligent Driver Model (IDM) for a platoon of Autonomous Driving Vehicles (ADVs) with Vehicle-to-Infrastructure (V2I) Communication. The main aim is to address practical implementation issues of such a system as well as the safety and security concerns for traffic environments. To this end, we first investigated a channel estimation model for V2I communication. We employed the IEEE 802.11p vehicular standard and calculated path loss, Packet Error Rate (PER), Signal-to-Noise Ratio (SNR), and throughput between transmitter and receiver end. Next, we carried out several case studies to evaluate the performance of the proposed control system with respect to its response to: (i) the communication infrastructure; (ii) its sensitivity to an emergency, inter-vehicular gap, and significant perturbation; and (iii) its performance under the loss of communication and changing driving environment. Simulation results show the effectiveness of the proposed control model. The model is collision-free for an infinite length of platoon string on a single lane road-driving environment. It also shows that it can work during a lack of communication, where the platoon vehicles can make their decision with the help of their own sensors. V2X Enabled Intelligent Driver Model (VX-IDM) performance is assessed and compared with the state-of-the-art models considering standard parameter settings and metrics.

A nonlinear optimal (H-infinity) control method is proposed for an electric ship's propulsion system that consists of an induction motor, a drivetrain and a propeller. The control method relies on approximate linearization of the propulsion system's dynamic model using Taylor-series expansion and on the computation of the state-space description's Jacobian matrices. The linearization takes place around a temporary equilibrium which is recomputed at each time-step of the control method. For the approximately linearized model of the ship's propulsion system, an H-infinity (optimal) feedback controller is developed. For the computation of the controller's gains an algebraic Riccati equation is solved at each iteration of the control algorithm.The stability properties of the control method are proven through Lyapunov analysis,

The problem of statistical fault diagnosis for the quadruple watertanks system is examined. The solution of the fault diagnosis problem for the dynamic model of the four-water tanks system is a non-trivial case, due to nonlinearities and the system’s multivariable structure. In the article’s approach, the system’s dynamic model undergoes first approximate linearization around a temporary operating point which is recomputed at each sampling period. The linearization procedure relies on Taylor series expansion and on the computation of the Jacobian matrices of the state-space description of the system. The H-infinity Kalman Filter is used as a robust state estimator for the approximately linearized model of the quadruple water tanks system. By comparing the outputs of the H-infinity Kalman Filter against the outputs measured from the real water tanks system the residuals sequence is generated. It is concluded that the sum of the squares of the residuals’ vectors, being weighted by the inverse of the associated covariance matrix, stands for a stochastic variable that follows the χ 2 distribution. As a consequence, a statistical method for condition monitoring of the quadruple water tanks system is drawn, by using the properties of the χ 2 distribution and the related confidence intervals. Actually, normal functioning can be ensured as long as the value of the aforementioned stochastic variable stays within the previously noted confidence intervals. On the other side, one can infer the malfunctioning of the quadruple water tanks system with a high level of certainty (e.g. of the order of 96% to 98%), when these confidence intervals are exceeded. The article’s method allows also for fault isolation, that is for identifying the specific component of the quadruple water tanks system that has been subject to fault or cyber-attack.

The article proposes a nonlinear optimal control method for the model of the wheeled inverted pendulum (WIP). This is a difficult control and robotics problem due to the system’s strong nonlinearities and due to its underactuation. First, the dynamic model of the WIP undergoes approximate linearization around a temporary operating point which is recomputed at each time step of the control method. The linearization procedure makes use of Taylor series expansion and of the computation of the associated Jacobian matrices. For the linearized model of the wheeled pendulum, an optimal ( H -infinity) feedback controller is developed. The controller’s gain is computed through the repetitive solution of an algebraic Riccati equation at each iteration of the control algorithm. The global asymptotic stability properties of the control method are proven through Lyapunov analysis. Finally, by using the H -infinity Kalman Filter as a robust state estimator, the implementation of a state estimation-based control scheme becomes also possible.

This paper studies an approach for detecting cyber attacks against networked cooperative systems (NCS) that are assumed to be working in a cyber-physical environment. NCS are prone to anomalies both due to cyber and physical attacks and faults. Cyber-attacks being more hazardous given the cooperative nature of the NCS may lead to disastrous consequences and thus need to be detected as soon as they occur by all systems in the network. Our approach deals with two types of malicious attacks aimed at compromising the stability of the NCS: intrusion attacks/local malfunctions on individual systems and deception/cyber-attacks on the communication between the systems. In order to detect and identify such attacks under switching communication topologies, this paper proposes a new distributed methodology that solves global state estimation of the NCS where the aim is identifying anomalies in the networked system using residuals generated by monitoring agents such that coverage of the entire network is assured. A cascade of predefined-time sliding mode switched observers is introduced for each agent to achieve a fast estimate of the global state whereby the settling time is an a priori defined parameter independently of the initial conditions. Then, using the conventional consensus algorithm, a set of residuals are generated by the agents that is capable of detecting and isolating local intrusion attacks and communication cyber-attacks in the network using only locally exchanged information. In order to prove the effectiveness of the proposed method, the framework is tested for a velocity synchronization seeking network of mobile robots.

This paper proposes a chaotic communication approach using indirect coupled synchronization scheme with high power encrypted signals. The proposed scheme is carefully designed so that the encrypted signal does not deteriorate the synchronization unlike in traditional communication methods. The synchronization problem is solved using observer-based controller. The advantages of this approach are the general and systematic feedback observer design methodology suitable for convergence rate of synchronization; flexibility in selection of chaotic signals for cryptosystem secure key generator; and improvement of the frequency-domain characteristics of the transmitted message. Computer simulations show that the synchronization between the transmitter and the receiver is more robust for different amplitude values of the information signal, even in the presence of external disturbances.