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This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based on a quadratic cost function integrating UAV dynamics and system constraints. An additional contraction constraint is then introduced to ensure closed-loop system stability. That constraint is fulfilled via a Lyapunov function derived from a sliding mode controller (SMC). The feasibility and stability of the LNMPC are finally proved. Simulation and comparison results show that the proposed controller guarantees the system stability and outperforms other state-of-the-art nonlinear controllers such as the backstepping controller (BSC) and SMC. In addition, the proposed controller can be integrated into an existing UAV model in the Gazebo simulator to perform software-in-the-loop tests. The results show that the LNMPC is better than the built-in PID controller of the UAV, which confirms the validity and applicability of our proposed approach.

In this paper, we consider an integrated data and energy network and D2D communication coexistence (DED2D) system. The DED2D system allows a base station (BS) to transfer data to information-demanded users (IUs) and energy to energy-demanded users (EUs), i.e., using a time-fraction-based information and energy transfer (TFIET) scheme. Furthermore, the DED2D system enables D2D communications to share spectrum with the BS. Therefore, the DED2D system addresses the growth of energy and spectrum demands of the next generation networks. However, the interference caused by the D2D communications and propagation loss of wireless links can significantly degrade the data throughput of IUs. To deal with the issues, we propose to deploy an intelligent reflecting surface (IRS) in the DED2D system. Then, we formulate an optimization problem that aims to optimize the information beamformer for the IUs, energy beamformer for EUs, time fractions of the TFIET, transmit power of D2D transmitters, and reflection coefficients of the IRS to maximize IUs' worse throughput while satisfying the harvested energy requirement of EUs and D2D rate threshold. The max-min throughput optimization problem is computationally intractable, and we develop an alternating descent algorithm to resolve it with low computational complexity. The simulation results demonstrate the effectiveness of the proposed algorithm.

Federated Learning Networks (FLNs) have been envisaged as a promising paradigm to collaboratively train models among mobile devices without exposing their local privacy data. Due to the need for frequent model updates and communications, FLNs are vulnerable to various attacks (e.g., eavesdropping attacks, inference attacks, poisoning attacks, and backdoor attacks). Balancing privacy protection with efficient distributed model training is a key challenge for FLNs. Existing countermeasures incur high computation costs and are only designed for specific attacks on FLNs. In this paper, we bridge this gap by proposing the Covert Communication-based Federated Learning (CCFL) approach. Based on the emerging communication security technique of covert communication which hides the existence of wireless communication activities, CCFL can degrade attackers' capability of extracting useful information from the FLN training protocol, which is a fundamental step for most existing attacks, and thereby holistically enhances the privacy of FLNs. We experimentally evaluate CCFL extensively under real-world settings in which the FL latency is optimized under given security requirements. Numerical results demonstrate the significant effectiveness of the proposed approach in terms of both training efficiency and communication security.

This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the filter. A neural network is implemented to regulate the membership functions of the antecedent and consequent parts of the fuzzy rules. The aim is to gain the accuracy and avoid the divergence of the EKF when the noise covariance matrices are fixed or wrongly determined. Simulations and experiments have been conducted. The results show that the proposed filter is better than the EKF in localizing the mobile robot.

In this paper, we address dynamic network selection problems of mobile users in an Intelligent Reflecting Surface (IRS)-enabled wireless network. In particular, the users dynamically select different Service Providers (SPs) and network services over time. The network services are composed of IRS resources and transmit power resources. To formulate the SP and network service selection, we adopt an evolutionary game in which the users are able to adapt their network selections depending on the utilities that they achieve. For this, the replicator dynamics is used to model the service selection adaptation of the users. To allow the users to take their past service experiences into account their decisions, we further adopt an enhanced version of the evolutionary game, namely fractional evolutionary game, to study the SP and network service selection. The fractional evolutionary game incorporates the memory effect that captures the users' memory on their decisions. We theoretically prove that both the game approaches have a unique equilibrium. Finally, we provide numerical results to demonstrate the effectiveness of our proposed game approaches. In particular, we have reveal some important finding, for instance, with the memory effect, the users can achieve the utility higher than that without the memory effect

In this letter, we investigate the dynamic network service provider (SP) and service selection in an intelligent reflecting surface (IRS)-assisted wireless network. In the network, mobile users select different network resources, i.e., transmit power and IRS resources, provided by different SPs. To analyze the SP and network service selection of the users, we formulate an evolutionary game. In the game, the users (players) adjust their selections of the SPs and services based on their utilities. We model the SP and service adaptation of the users by the replicator dynamics and analyze the equilibrium of the evolutionary game. Extensive simulations are provided to demonstrate consistency with the analytical results and the effectiveness of the proposed game approach.

The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of robot into two parts: glocal and local configuration then the control law is designed following Lyapunov stable theory for two configuration. The proposed stable control laws is able to reach asymptotically stably to target position and orientation from any initial conditions even existing noise in the system. Some simulation results have demonstrated the effect of proposed method., Comment: in Proceeding of The 8th Vietnam Conference on Mechatronics (VCM 2014). in Vietnamese language

This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction of system state from delayed measurement. The state estimator combined with developed control laws ensures the asymptotic stability of the networked system. Simulations with parameters extracted from a real robot system were conducted and results confirmed the correctness as well as applicability of proposed approach., Comment: in Proceeding of The 6th Vietnam Conference on Mechatronics (VCM 2012). in Vietnamese language

A Building Automation System (BAS) has functions of monitoring and controlling the operation of all building sub-systems such as HVAC (Heating-Ventilation, Air-conditioning Control), electric consumption management, fire alarm control, security and access control, and appliance switching control. In the BAS, almost operations are automatically performed at the control centre, the building security therefore must be strictly protected. In the traditional system, the security is usually ensured by a number of cameras installed at fixed positions and it may results in a limited vision. To overcome this disadvantage, our paper presents a novel security system in which a mobile robot is used as a patrol. The robot is equipped with fuzzy-based algorithms to allow it to avoid the obstacles in an unknown environment as well as other necessary mechanisms demanded for its patrol mission. The experiment results show that the system satisfies the requirements for the objective of monitoring and securing the building., Comment: in Vietnamese language

This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication delay. The filter operates through two phases: the time update and the data correction. The time update predicts the robot position by reformulating the kinematics model to be non-memoryless. The correction step corrects the prediction by extrapolating the delayed measurement to the present and then incorporating it to the being estimate as there is no delay. The optimality of the incorporation is ensured by the derivation of a multiplier that reflects the relevance of past observations to the present. Simulations in MATLAB and experiments in a real networked robot system confirm the validity of the proposed approach.

This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex navigation task is split into principal sub-tasks or behaviors. Each behavior is implemented by a fuzzy controller and executed independently to deal with a specific problem of navigation. The fuzzy controller is modified to contain only the fuzzification and inference procedures so that its output is a membership function representing the behavior's objective. The membership functions of all controllers are then used as the objective functions for a multi-objective optimization process to coordinate all behaviors. The result of this process is an overall control signal, which is Pareto-optimal, used to control the robot. A number of simulations, comparisons, and experiments were conducted. The results show that the proposed architecture outperforms some popular behavior-based architectures in term of accuracy, smoothness, traveled distance, and time response.

This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is developed. The main idea is the derivation of a relevance factor to incorporate delayed measurements to the being estimate. The estimator is then extended for nonlinear systems. The performance of this method is tested within the simulations in MATLAB and the experiments in a real robot system. The good localization results prove the efficiency of the method for the purpose of localization of networked mobile robot., Comment: In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM