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Nonlinear Control and Filtering for Stochastic Networked Systems Nonlinear Control and Filtering for Stochastic Networked Systems Lifeng Ma Zidong Wang Yuming Bo Published in 2019 by CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2019 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number-13: 978-1-138-38657-0 (Hardback) This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www. copyright.com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com This book is dedicated to the Dream Dynasty, consisting of a group of bright people who have been to Brunel University London to enjoy happy research by handling both stochasticity and nonlinearity through filtering noises as well as controlling complexities in a networked way ...... Contents Preface xi Acknowledgements xiii Symbols xv 1 Introduction 1 1.1 Nonlinear Stochastic Networked Systems . . . . . . . . . . . 1 1.2 Sliding Mode Control . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Distributed Filtering . . . . . . . . . . . . . . . . . . . . . . 4 1.4 Cyber Attacks . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.5 Network-Induced Randomly Occurring Phenomena . . . . . 7 1.6 Nonlinear Stochastic Multi-Agent Systems . . . . . . . . . . 9 1.7 Consensus of Nonlinear Multi-Agent Systems with Stochastic Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.8 Consensus with Stochastic Topologies . . . . . . . . . . . . . 19 1.9 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2 Robust Sliding Mode Control for Nonlinear Stochastic ∞ H Systems with Multiple Data Packet Losses 25 2.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 26 2.2 Design of Sliding Model Controllers . . . . . . . . . . . . . . 28 2.3 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 41 2.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 3 SlidingModeControlforAClassofNonlinearDiscrete-Time Networked Systems with Multiple Stochastic Communica- tion Delays 47 3.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 48 3.2 Design of SMC . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.3 Sliding Mode Controller . . . . . . . . . . . . . . . . . . . . . 56 3.4 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 58 3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4 SlidingModeControlfor NonlinearNetworked Systems with Stochastic Communication Delays 67 4.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 68 vii viii Contents 4.2 Design of SMC . . . . . . . . . . . . . . . . . . . . . . . . . . 69 4.3 Sliding Mode Controller . . . . . . . . . . . . . . . . . . . . . 77 4.4 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 80 4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 5 Reliable Control for A Class of Nonlinear Time-Varying ∞ H Stochastic Systems with Randomly Occurring Sensor Fail- ures 87 5.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 88 5.2 Performance . . . . . . . . . . . . . . . . . . . . . . . . . 92 ∞ H 5.3 Controller Design . . . . . . . . . . . . . . . . . . . . . . . . 95 5.4 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . 99 5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 6 Event-Triggered Mean Square Consensus Control for Time- Varying Stochastic Multi-Agent System with Sensor Satura- tions 101 6.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 102 6.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 6.3 Illustrative Example . . . . . . . . . . . . . . . . . . . . . . . 114 6.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 7 Mean-Square ConsensusControlforAClassofNonlinear ∞ H Time-Varying Stochastic Multi-Agent Systems: The Finite- Horizon Case 121 7.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 122 7.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 7.3 Illustrative Example . . . . . . . . . . . . . . . . . . . . . . . 139 7.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 8 Consensus Control for Nonlinear Multi-Agent Systems Sub- ject to Deception Attacks 143 8.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 144 8.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 8.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 9 Distributed Event-Based Set-Membership Filtering for A ClassofNonlinearSystemswithSensorSaturationsoverSen- sor Networks 155 9.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 157 9.2 Distributed Event-BasedSet-Membership Filter Design . . . 160 9.3 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 171 9.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Contents ix 10 Variance-Constrained Distributed Filtering for Time-varying Systems with Multiplicative Noises and Deception Attacks over Sensor Networks 179 10.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 180 10.2 Distributed Filter Design . . . . . . . . . . . . . . . . . . . . 186 10.3 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . 192 10.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 11 Conclusions and Future Topics 199 Bibliography 201 Index 225

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Nonlinear Control and Filtering for Stochastic Networked Systems Nonlinear Control and Filtering for Stochastic Networked Systems Lifeng Ma Zidong Wang Yuming Bo Published in 2019 by CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2019 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group No claim to original U.S. Government works Printed in the United States of America on acid-free paper 10 9 8 7 6 5 4 3 2 1 International Standard Book Number-13: 978-1-138-38657-0 (Hardback) This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www. copyright.com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com This book is dedicated to the Dream Dynasty, consisting of a group of bright people who have been to Brunel University London to enjoy happy research by handling both stochasticity and nonlinearity through filtering noises as well as controlling complexities in a networked way ...... Contents Preface xi Acknowledgements xiii Symbols xv 1 Introduction 1 1.1 Nonlinear Stochastic Networked Systems . . . . . . . . . . . 1 1.2 Sliding Mode Control . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Distributed Filtering . . . . . . . . . . . . . . . . . . . . . . 4 1.4 Cyber Attacks . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.5 Network-Induced Randomly Occurring Phenomena . . . . . 7 1.6 Nonlinear Stochastic Multi-Agent Systems . . . . . . . . . . 9 1.7 Consensus of Nonlinear Multi-Agent Systems with Stochastic Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.8 Consensus with Stochastic Topologies . . . . . . . . . . . . . 19 1.9 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 2 Robust Sliding Mode Control for Nonlinear Stochastic ∞ H Systems with Multiple Data Packet Losses 25 2.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 26 2.2 Design of Sliding Model Controllers . . . . . . . . . . . . . . 28 2.3 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 41 2.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 3 SlidingModeControlforAClassofNonlinearDiscrete-Time Networked Systems with Multiple Stochastic Communica- tion Delays 47 3.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 48 3.2 Design of SMC . . . . . . . . . . . . . . . . . . . . . . . . . . 49 3.3 Sliding Mode Controller . . . . . . . . . . . . . . . . . . . . . 56 3.4 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 58 3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 4 SlidingModeControlfor NonlinearNetworked Systems with Stochastic Communication Delays 67 4.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 68 vii viii Contents 4.2 Design of SMC . . . . . . . . . . . . . . . . . . . . . . . . . . 69 4.3 Sliding Mode Controller . . . . . . . . . . . . . . . . . . . . . 77 4.4 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 80 4.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 5 Reliable Control for A Class of Nonlinear Time-Varying ∞ H Stochastic Systems with Randomly Occurring Sensor Fail- ures 87 5.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 88 5.2 Performance . . . . . . . . . . . . . . . . . . . . . . . . . 92 ∞ H 5.3 Controller Design . . . . . . . . . . . . . . . . . . . . . . . . 95 5.4 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . 99 5.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 6 Event-Triggered Mean Square Consensus Control for Time- Varying Stochastic Multi-Agent System with Sensor Satura- tions 101 6.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 102 6.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 6.3 Illustrative Example . . . . . . . . . . . . . . . . . . . . . . . 114 6.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 7 Mean-Square ConsensusControlforAClassofNonlinear ∞ H Time-Varying Stochastic Multi-Agent Systems: The Finite- Horizon Case 121 7.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 122 7.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 7.3 Illustrative Example . . . . . . . . . . . . . . . . . . . . . . . 139 7.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 8 Consensus Control for Nonlinear Multi-Agent Systems Sub- ject to Deception Attacks 143 8.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 144 8.2 Main Results . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 8.3 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 9 Distributed Event-Based Set-Membership Filtering for A ClassofNonlinearSystemswithSensorSaturationsoverSen- sor Networks 155 9.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 157 9.2 Distributed Event-BasedSet-Membership Filter Design . . . 160 9.3 An Illustrative Example . . . . . . . . . . . . . . . . . . . . . 171 9.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Contents ix 10 Variance-Constrained Distributed Filtering for Time-varying Systems with Multiplicative Noises and Deception Attacks over Sensor Networks 179 10.1 Problem Formulation . . . . . . . . . . . . . . . . . . . . . . 180 10.2 Distributed Filter Design . . . . . . . . . . . . . . . . . . . . 186 10.3 Numerical Example . . . . . . . . . . . . . . . . . . . . . . . 192 10.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 11 Conclusions and Future Topics 199 Bibliography 201 Index 225

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