王领 , 申晓红 , 康玉柱 , 等 . 水声传感器网络信号到达时间差目标定位的最小二乘法估计性能 [J ] . 兵工学报 , 2020 , 41 ( 3 ): 542 - 551 . DOI: 10.3969/j.issn.1000-1093.2020.03.015 http://doi.org/10.3969/j.issn.1000-1093.2020.03.015 为解决水声传感器网络中测量误差和传感器节点位置误差同时存在时的目标定位问题，提出一种双误差模型下基于加权整体最小二乘方法。建立双误差条件下的信号到达时间差目标定位模型，采用加权整体最小二乘法对该模型进行求解，并推导权值的表达式。所提算法模型与实际符合性更好，且利用了测量误差方差和传感器节点位置误差方差的先验信息，以迭代方法得到最终的目标位置估计值。在模拟测量误差和传感器节点位置误差同时存在情况下对该方法进行仿真与水池试验验证，结果表明所提基于加权整体最小二乘的目标定位方法具有良好的定位性能。

WANG L , SHEN X H , KANG Y Z , et al . Least squares estimation performance for TDOA target localization in underwater acoustic sensor networks [J ] . Acta Armamentarii , 2020 , 41 ( 3 ): 542 - 551 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.03.015 http://doi.org/10.3969/j.issn.1000-1093.2020.03.015 A weighted total least squares method based on double error model is proposed for the target localization in the simultaneous presence of measurement error and sensor node position error in underwater acoustic sensor networks. A TDOA target localization model with double errors is established. The weighted total least squares method is used to solve the proposed model, and the expression of the weights is derived. The proposed algorithm model is to use the prior information of measurement error variance and sensor node position error variance to obtain the final target position estimate by iteration method. The simulation and water tank experimental verification of the proposed method were made by simulating the simultaneous existence of the measurement error and the sensor node positions error. The results show that the proposed target localization method based on weighted total least squares has higher localization performance. Key

崔令飞 , 郭永红 , 修全发 , 等 . 基于国产嵌入式智能计算平台的无人机检测方法 [J ] . 兵工学报 , 2022 , 43 ( 增刊1 ): 146 - 154 .

CUI L F , GUO Y H , XIU Q F , et al . UAV detection method based on domestic embedded intelligent computing platform [J ] . Acta Armamentarii , 2022 , 43 ( S1 ): 146 - 154 . (in Chinese) DOI: 10.12382/bgxb.2022.A013 http://doi.org/10.12382/bgxb.2022.A013 A UAV detection method based on a domestic embedded intelligent computing platform is proposed to meet the actual requirements of anti-unmanned aerial vehicle(UAV) reconnaissance on the land battlefield. For the problem that UAV is small in size and not easy to be detected in the battlefield environment，the detection method is to use infrared and visible light images and video streams inputs for target detection. For the limited computing power and storage capacity of embedded platform，a lightweight deep neural network is built，and the feature extraction network in single shot multi-box detector(SSD) is replaced with MobileNet for model compression. The embedded platform Bitmain SE5 intelligent computing box is selected for verification， and the model conversion and transplantation are achieved. The experimental result shows that the proposed UAV detection method based on the lightweight deep neural network MobileNet-SSD can accurately determine the type of targets on the embedded intelligent computing platform， and the mean recognition accuracy and frame rate are basically same with those running in the development environment. It fully shows that the detection method can meet the requirements of the real-time and accuracy of UAV detection algorithm in the application environment in terms of speed and accuracy after being transplanted on the embedded intelligent computing platform.

刘烃 , 田决 , 王稼舟 , 等 . 信息物理融合系统综合安全威胁与防御研究 [J ] . 自动化学报 , 2019 , 45 ( 1 ): 5 - 24 .

LIU T , TIAN J , WANG J Z , et al . Integrated security threats and defense of cyber-physical systems [J ] . Acta Automatica Sinica , 2019 , 45 ( 1 ): 5 - 24 . (in Chinese)

LIAN Y D , YANG Q F , XIE W , et al . Cyber-physical system-based heuristic planning and scheduling method for multiple automatic guided vehicles in logistics systems [J ] . IEEE Transactions on Industrial Informatics , 2020 , 17 ( 11 ): 7882 - 7893 . DOI: 10.1109/TII.2020.3034280 http://doi.org/10.1109/TII.2020.3034280 https://ieeexplore.ieee.org/document/9241435/ https://ieeexplore.ieee.org/document/9241435/

SHEN Z Y , DING F , JOLFAEI A , et al . DeformableGAN: generating medical images with improved integrity for healthcare cyber physical systems [J ] . IEEE Transactions on Network Science and Engineering , 2022 ( Early Access ): 1 - 13 .

ABDELMAWGOUD A , JAMSHIDI M , BENAVIDEZ P . Distributed estimation in multimissile cyber-physical systems with time delay [J ] . IEEE Systems Journal , 2020 , 14 ( 1 ): 1491 - 1502 . DOI: 10.1109/JSYST.4267003 http://doi.org/10.1109/JSYST.4267003 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=4267003 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=4267003

WANG H J , ZHAO H T , ZHANG J , et al . Survey on unmanned aerial vehicle networks: a cyber physical system perspective [J ] . IEEE Communications Surveys & Tutorials , 2019 , 22 ( 2 ): 1027 - 1070 .

ALREFAEI F , ALZAHRANI A , SONG H , et al . Cyber physical systems, a new challenge and security issue for the aviation [C ] // Proceeding of the 2021 IEEE International IOT, Electronics and Mechatronics Conference . Toronto,ON, Canada : IEEE , 2021 : 1 - 5 .

PONGSAKORNSATHIEN N , LIM Y , GARDI A , et al . Sensor networks for aerospace human-machine systems [J ] . Sensors , 2019 , 19 ( 16 ): 3465 . DOI: 10.3390/s19163465 http://doi.org/10.3390/s19163465 https://www.mdpi.com/1424-8220/19/16/3465 https://www.mdpi.com/1424-8220/19/16/3465 Intelligent automation and trusted autonomy are being introduced in aerospace cyber-physical systems to support diverse tasks including data processing, decision-making, information sharing and mission execution. Due to the increasing level of integration/collaboration between humans and automation in these tasks, the operational performance of closed-loop human-machine systems can be enhanced when the machine monitors the operator’s cognitive states and adapts to them in order to maximise the effectiveness of the Human-Machine Interfaces and Interactions (HMI2). Technological developments have led to neurophysiological observations becoming a reliable methodology to evaluate the human operator’s states using a variety of wearable and remote sensors. The adoption of sensor networks can be seen as an evolution of this approach, as there are notable advantages if these sensors collect and exchange data in real-time, while their operation is controlled remotely and synchronised. This paper discusses recent advances in sensor networks for aerospace cyber-physical systems, focusing on Cognitive HMI2 (CHMI2) implementations. The key neurophysiological measurements used in this context and their relationship with the operator’s cognitive states are discussed. Suitable data analysis techniques based on machine learning and statistical inference are also presented, as these techniques allow processing both neurophysiological and operational data to obtain accurate cognitive state estimations. Lastly, to support the development of sensor networks for CHMI2 applications, the paper addresses the performance characterisation of various state-of-the-art sensors and the propagation of measurement uncertainties through a machine learning-based inference engine. Results show that a proper sensor selection and integration can support the implementation of effective human-machine systems for various challenging aerospace applications, including Air Traffic Management (ATM), commercial airliner Single-Pilot Operations (SIPO), one-to-many Unmanned Aircraft Systems (UAS), and space operations management.

CHEN G D , LIU Y , YAO D Y , et al . Event-triggered tracking control of nonlinear systems under sparse attacks and its application to rigid aircraft [J ] . IEEE Transactions on Aerospace and Electronic Systems , 2023 , 59 ( 4 ): 4640 - 4650 . DOI: 10.1109/TAES.2023.3246436 http://doi.org/10.1109/TAES.2023.3246436 https://ieeexplore.ieee.org/document/10049162/ https://ieeexplore.ieee.org/document/10049162/

DENG C , GUO F H , WEN C Y , et al . Distributed resilient secondary control for DC microgrids against heterogeneous communication delays and DoS attacks [J ] . IEEE Transactions on Industrial Electronics , 2021 , 69 ( 11 ): 11560 - 11568 . DOI: 10.1109/TIE.2021.3120492 http://doi.org/10.1109/TIE.2021.3120492 https://ieeexplore.ieee.org/document/9583906/ https://ieeexplore.ieee.org/document/9583906/

HUANG X , DONG J X . Reliable cooperative control and plug-and-play operation for networked heterogeneous systems under cyber-physical attacks [J ] . ISA Transactions , 2020 , 104 : 62 - 72 . DOI: S0019-0578(19)30461-6 http://doi.org/S0019-0578(19)30461-6 This paper considers a reliable cooperative control and plug-and-play operation problem in networked heterogeneous systems (NHSs), and focuses on the scenario subjected to physical attack-induced actuator failures/uncertainties and Denial-of-Service (DoS) attacks on communication channels between physical nodes. To solve it, a new self-feedback control with an adaptive integral sliding-mode compensator is developed. The new one configures each heterogeneous system under the malicious actuator failures/uncertainties to be passivity-short (PS). The PS index quantifies the impact of each attacked heterogeneous dynamics on their networked operations. Furthermore, based on cloud networks, a novel network-level distributed control is proposed. It improves robustness of the systems against DoS with no frequency and duration constraints. And then, a technical condition is presented with the aid of the impact equivalence principle. Under the condition, the self-feedback and network-level controls designed separately but performed together ensure the leader-follower consensus and plug-and-play operation of the attacked NHSs. Finally, the effectiveness of the proposed method is verified by flight control systems.Copyright © 2019 ISA. Published by Elsevier Ltd. All rights reserved.

LI X L , WEN C Y , CHEN C . Adaptive formation control of networked robotic systems with bearing-only measurements [J ] . IEEE Transactions on Cybernetics , 2020 , 51 ( 1 ): 199 - 209 . DOI: 10.1109/TCYB.6221036 http://doi.org/10.1109/TCYB.6221036 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6221036 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6221036

WU G Y , SUN J , CHEN J . Optimal data injection attacks in cyber-physical systems [J ] . IEEE Transactions on Cybernetics , 2018 , 48 ( 12 ): 3302 - 3312 . DOI: 10.1109/TCYB.2018.2846365 http://doi.org/10.1109/TCYB.2018.2846365 The primary goal of this paper is to analyze the dynamic response of a system under optimal data injection attacks from a control perspective. In this paper, optimal data injection attack design problems are formulated in a similar framework of optimal control. We consider a scenario, where an attacker injects false data to a healthy plant comprising many actuators distributed in different regions. For the case, where an attacker pollutes all actuators, an optimal state feedback injection law is proposed to minimize a quadratic cost functional containing two conflicting objectives. For the case, where the attacker only pollutes partial actuators within a short period, the quadratic programming is employed to solve an optimal switching data injection attack design problem using the technique of embedded transformation. A bang-bang-type solution of the quadratic programming exists on account of the minimum value of the Hamilton functional and is achieved at an extreme point of the convex set. Consequently, a switching condition is derived to obtain the optimal attack sequence. We also introduce a closed-form switching policy for data injection attacks with multiple objectives, which is shown optimal in the sense of minimizing a hybrid quadratic performance criterion. Finally, applications of our approaches to a networked dc motor and a power system are provided to illustrate the effectiveness of the proposed method.

李小杭 , 张志虎 , 宋春林 , 等 . 虚假数据注入攻击下的自适应补偿控制 [J ] . 兵工学报 , 2020 , 41 ( 11 ): 2260 - 2265 . DOI: 10.3969/j.issn.1000-1093.2020.11.013 http://doi.org/10.3969/j.issn.1000-1093.2020.11.013 针对信息物理系统的虚假数据注入、执行器受到攻击问题，提出系统执行器在受到常值虚假数据注入攻击与有界时变虚假数据注入攻击时的自适应补偿控制器设计方法。自适应补偿控制算法应用于虚假数据注入攻击中，所设计的自适应律具有收敛速度快、估计参数准确等优点。该补偿控制算法能够基本上补偿虚假数据注入攻击产生的影响，可以证明最终闭环系统的所有信号是有界的并且系统状态能够渐近收敛到0. 仿真实例验证了状态反馈自适应补偿控制器的有效性。

LI X H , ZHANG Z H , SONG C L , et al . Adaptive compensation control under false data injection attack [J ] . Acta Armamentarii , 2020 , 41 ( 11 ): 2260 - 2265 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.11.013 http://doi.org/10.3969/j.issn.1000-1093.2020.11.013 For the false data injection of cyber physical systems, a designing method of adaptive compensation controller is proposed, which is used for compensation control when the system executor suffers from constant false data injection attack and bounded time-varied false data injection attack. The application of adaptive compensation control algorithm to the false data injection attack shows that the designed adaptive law has the advantages of fast convergence speed and accurate parameter estimation. The compensation control algorithm can substantially compensate for the effects of false data injection attacks. It can be proven that all signals from the final closed-loop system are bounded and the state of the system can asymptotically converge to zero. Finally, the simulation examples are provided to verify the effectiveness of the state feedback adaptive compensation controller proposed in this paper.

HUANG X , DONG J X . An adaptive secure control scheme for T-S fuzzy systems against simultaneous stealthy sensor and actuator attacks [J ] . IEEE Transactions on Fuzzy Systems , 2020 , 29 ( 7 ): 1978 - 1991 . DOI: 10.1109/TFUZZ.2020.2990772 http://doi.org/10.1109/TFUZZ.2020.2990772 https://ieeexplore.ieee.org/document/9080069/ https://ieeexplore.ieee.org/document/9080069/

HUANG X , DONG J X . Robust dynamic actuator failure compensation control of nonlinear systems via cooperative interaction design [J ] . IEEE Transactions on Cybernetics , 2021 , 52 ( 7 ): 6013 - 6023 . DOI: 10.1109/TCYB.2021.3049508 http://doi.org/10.1109/TCYB.2021.3049508 https://ieeexplore.ieee.org/document/9337178/ https://ieeexplore.ieee.org/document/9337178/

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TORRES I , AVILES J D . Observer-based sensor fault detection in a dark fermenter for hydrogen production [J ] . IEEE Control Systems Letters , 2020 , 5 ( 5 ): 1621 - 1626 . DOI: 10.1109/LCSYS.7782633 http://doi.org/10.1109/LCSYS.7782633 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7782633 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7782633

SUN Y S , JI Z J , QI Q Y , et al . Bipartite consensus of multi-agent systems with intermittent interaction [J ] . IEEE Access , 2019 , 7 : 130300 - 130311 . DOI: 10.1109/ACCESS.2019.2940541 http://doi.org/10.1109/ACCESS.2019.2940541 This paper studies the bipartite consensus problem of multi-agent systems with intermittent interaction under signed directed graph. It is assumed that each agent receives its states information relative to its neighbors at the sampling time and updates the control input by using the states information, and the period of each agent updates control input is equal to a positive integer multiple of its sampling period. Cooperation and competition between agents are represented by positive and negative weights of edge respectively in the signed topology. The sufficient condition for achieving bipartite consensus is obtained by Shure-Cohen stability criterion, which reveals the relationship among sampling period, update control input period and controller gain of system. Finally, simulation tests show the bipartite consensus performances of agents under intermittent protocol and signed topology.

WANG J R , HONG Y T , WANG J L , et al . Cooperative and competitive multi-agent systems:from optimization to games [J ] . IEEE/CAA Journal of Automatica Sinica , 2022 , 9 ( 5 ): 763 - 783 . DOI: 10.1109/JAS.2022.105506 http://doi.org/10.1109/JAS.2022.105506 https://ieeexplore.ieee.org/document/9763486/ https://ieeexplore.ieee.org/document/9763486/

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LIAN Y D , YANG Q F , XIE W , et al . Cyber-physical system-based heuristic planning and scheduling method for multiple automatic guided vehicles in logistics systems [J ] . IEEE Transactions on Industrial Informatics , 2020 , 17 ( 11 ): 7882 - 7893 . DOI: 10.1109/TII.2020.3034280 http://doi.org/10.1109/TII.2020.3034280 https://ieeexplore.ieee.org/document/9241435/ https://ieeexplore.ieee.org/document/9241435/

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