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REACTIVE CONTROL OF AUTONOMOUS DYNAMICAL SYSTEMS
Title
REACTIVE CONTROL OF AUTONOMOUS DYNAMICAL SYSTEMS.
Creator
Chunyu, Jiangmin, Qu, Zhihua, University of Central Florida
Abstract / Description
This thesis mainly consists of five independent papers concerning the reactive control design of autonomous mobile robots in the context of target tracking and cooperative formation keeping with obstacle avoidance in the static/dynamic environment. Technical contents of this thesis are divided into three parts. The first part consists of the first two papers, which consider the target-tracking and obstacle avoidance in the static environment. Especially, in the static environment, a...
Show moreThis thesis mainly consists of five independent papers concerning the reactive control design of autonomous mobile robots in the context of target tracking and cooperative formation keeping with obstacle avoidance in the static/dynamic environment. Technical contents of this thesis are divided into three parts. The first part consists of the first two papers, which consider the target-tracking and obstacle avoidance in the static environment. Especially, in the static environment, a fundamental issue of reactive control design is the local minima problem (LMP) inherent in the potential field methods (PFMs). Through introducing a state-dependent planned goal, the first paper proposes a switching control strategy to tackle this problem. The control law for the planned goal is presented. When trapped into local minima, the robot can escape from local minima by following the planned goal. The proposed control law also takes into account the presence of possible saturation constraints. In addition, a time-varying continuous control law is proposed in the second paper to tackle this problem. Challenges of finding continuous control solutions of LMP are discussed and explicit design strategies are then proposed. The second part of this thesis deals with target-tracking and obstacle avoidance in the dynamic environment. In the third paper, a reactive control design is presented for Omni-directional mobile robots with limited sensor range to track targets while avoiding static and moving obstacles in a dynamically evolving environment. Towards this end, a multi-objective control problem is formulated and control is synthesized by generating a potential field force for each objective and combining them through analysis and design. Different from standard potential field methods, the composite potential field described in this paper is time-varying and planned to account for moving obstacles and vehicle motion. In order to accommodate a larger class of mobile robots, the fourth paper proposes a reactive control design for unicycle-type mobile robots. With the relative motion among the mobile robot, targets, and obstacles being formulated in polar coordinates, kinematic control laws achieving target-tracking and obstacle avoidance are synthesized using Lyapunov based technique, and more importantly, the proposed control laws also take into account possible kinematic control saturation constraints. The third part of this thesis investigates the cooperative formation control with collision avoidance. In the fifth paper, firstly, the target tracking and collision avoidance problem for a single agent is studied. Instead of directly extending the single agent controls to the multi-agents case, the single agent controls are incorporated with an existing cooperative control design. The proposed decentralized control is reactive, considers the formation feedback and changes in the communication networks. The proposed control is based on a potential field method; its inherent oscillation problem is also studied to improve group transient performance.
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Date Issued
2010
Identifier
CFE0003421, ucf:48384
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0003421
GRAPH-THEORETIC APPROACH TO MODELING PROPAGATION AND CONTROL OF NETWORK WORMS
Title
GRAPH-THEORETIC APPROACH TO MODELING PROPAGATION AND CONTROL OF NETWORK WORMS.
Creator
Nikoloski, Zoran, Deo, Narsingh, University of Central Florida
Abstract / Description
In today's network-dependent society, cyber attacks with network worms have become the predominant threat to confidentiality, integrity, and availability of network computing resources. Despite ongoing research efforts, there is still no comprehensive network-security solution aimed at controling large-scale worm propagation. The aim of this work is fivefold: (1) Developing an accurate combinatorial model of worm propagation that can facilitate the analysis of worm control strategies, (2)...
Show moreIn today's network-dependent society, cyber attacks with network worms have become the predominant threat to confidentiality, integrity, and availability of network computing resources. Despite ongoing research efforts, there is still no comprehensive network-security solution aimed at controling large-scale worm propagation. The aim of this work is fivefold: (1) Developing an accurate combinatorial model of worm propagation that can facilitate the analysis of worm control strategies, (2) Building an accurate epidemiological model for the propagation of a worm employing local strategies, (3) Devising distributed architecture and algorithms for detection of worm scanning activities, (4) Designing effective control strategies against the worm, and (5) Simulation of the developed models and strategies on large, scale-free graphs representing real-world communication networks. The proposed pair-approximation model uses the information about the network structure--order, size, degree distribution, and transitivity. The empirical study of propagation on large scale-free graphs is in agreement with the theoretical analysis of the proposed pair-approximation model. We, then, describe a natural generalization of the classical cops-and-robbers game--a combinatorial model of worm propagation and control. With the help of this game on graphs, we show that the problem of containing the worm is NP-hard. Six novel near-optimal control strategies are devised: combination of static and dynamic immunization, reactive dynamic and invariant dynamic immunization, soft quarantining, predictive traffic-blocking, and contact-tracing. The analysis of the predictive dynamic traffic-blocking, employing only local information, shows that the worm can be contained so that 40\% of the network nodes are not affected. Finally, we develop the Detection via Distributed Blackholes architecture and algorithm which reflect the propagation strategy used by the worm and the salient properties of the network. Our distributed detection algorithm can detect the worm scanning activity when only 1.5% of the network has been affected by the propagation. The proposed models and algorithms are analyzed with an individual-based simulation of worm propagation on realistic scale-free topologies.
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Date Issued
2005
Identifier
CFE0000640, ucf:46521
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0000640