In recent years, research to guarantee the safety of a control system under disturbance attracts much attention. In this paper, we propose an input-to-state constrained safety control barrier function (ISCSf-CBF) and a human assist control law with the proposed ISCSf-CBF. We aim to design a control system that guarantees safety under input disturbance. The effectiveness of the proposed control method is confirmed by computer simulation.

In this study, we propose a path-following control method based on the state feedback law. In recent years, automated driving which attracts attention requires various element technologies, and among them, path following control to follow the target path is one of the most important elemental technologies. In previous study, a method was proposed that gave a constraint that makes the following error asymptotically zero. However, if the target path has a road width, the tracking error does not have to be zero. In this paper, a reference value for the tracking error is designed as a function of the vehicle state and other factors. The effectiveness of the proposed method was validated by numerical simulations and showed better performance than previous studies.

This paper presents dynamic budget-balanced integration mechanisms for LQG power networks based on mechanism design theory in economics. The LQG power network model, which is motivated by an average system frequency model, consists of generators and consumers, called agents, and one public commission, called the utility. Each agent, who has a type with his preference, exercises private control to minimize the costs according to a personal cost functional, while the utility decides prices to minimize the costs according to a public cost functional and manages information transmission. In this problem setting, we propose dynamic budget-balanced integration mechanisms that integrate the strategic determination of private controls by rational agents into the optimal public controls with real-time pricing and monetary transfer costs. Two dynamic integration mechanisms, which together achieve all of social welfare maximization, Bayesian incentive compatibility, and budget balance, are proposed based on the cost functional and the Hamiltonian. The effectiveness of the proposed mechanisms are assessed through simulations.

Since the damage from cyber-attacks increases, there is an urgent need to research and develop security countermeasures for control systems. In the control system, the controller is an important device. This paper then considers a whitelisting system that models the normal operation sequence of a PLC (Programmable Logic Controller) and detects deviations from the model as abnormal. We propose three methods to auto-generate the whitelisting system by LD (Ladder Diagram): Petri net model generation, constraint condition derivation, and LD conversion. The first method generates Petri net models form SFCs (Sequential Function Charts) that are compatible with LDs. The second method derives whitelist conditions from Petri net models to check whether PLC performs the correct operation sequence. The third method implements the whitelist conditions into LD. The auto-generated whitelisting system enables us to monitor the state transitions of the PLC programs. Further, this paper carries out an experimental validation of the methods using a testbed system.