41 results about "Intermittent control" patented technology

The invention belongs to the field of aero-engine anti-icing system design, and discloses an aero-engine anti-icing system and a design method. The system comprises an anti-icing component, a heat supply structure, a control assembly and a monitoring assembly, wherein the anti-icing component selects an air inlet support plate and a rectification cover hood; the heat supply structure introduces air from two air flows of the combustion chamber and conveys hot air through a pipeline and an air collection cavity; the control assembly adopts intermittent control, and system management and control are achieved through a pressure reducing valve and a digital electronic controller; the monitoring assembly comprises a pressure sensor and a thermocouple. The design method sequentially comprises the steps of anti-icing component and type determination, anti-icing structure design, control scheme design, simulation analysis, test verification and the like. A complete forward design path is provided, the anti-icing efficiency is improved, the structure is simplified, safe and stable operation of the engine is guaranteed, and the method can be widely applied to design and improvement of an anti-icing system of the aero-engine.

The invention discloses a switching control method based on SPWM soft start and a pulse type load LLC resonant converter. The converter mainly comprises an LLC resonant converter, an H-bridge inverter circuit and a load of the H-bridge inverter circuit, and the control method comprises the following steps: setting k-level SPWM modulation in a starting stage to realize smooth soft start of output voltage (k is any positive integer); the load state is accurately judged through an H-bridge switching logic unit, and Burst intermittent control and linear frequency control are adopted for no-load and full-load in a steady state respectively; during load switching, a nonlinear SOTC optimal trajectory controller is adopted to perform two-pulse optimal control, so that the state is transited to a new mode along the shortest trajectory, and a dynamic response optimizer is introduced to compensate the switched frequency according to the state radius error so as to suppress secondary voltage fluctuation. The problems of slow dynamic response, large output voltage fluctuation and the like when traditional linear control faces a pulse type load LLC resonant converter are solved, and the stability and the anti-interference capability of the output voltage of the system are improved.

The application discloses a generator lithium battery cooperative control method and system, and belongs to the technical field of electric control of hybrid electric vehicles. The method collects lithium battery current, SOC state and temperature data in real time, establishes a dynamic Imax threshold after standardization processing, constructs a multi-physical field coupling model, accurately calculates the high-power duration of the generator and outputs optimal intermittent control parameters, realizes intelligent cutting and recovery of the charging loop through MOSFET switches, collects operation data to feedback and optimize model parameters, and forms a closed-loop learning system. The application solves the technical problems of response lag and split electric heat management of the traditional method, realizes double-target optimization of the extension of the service life of the generator and the improvement of the charging efficiency of the lithium battery, reduces the daily average high-load time of the generator, and improves the cycle life of the lithium battery.

A DCDC converter that suppresses an inrush current flowing to a capacitor is provided. A DCDC converter (1) includes: first and second capacitors (C1, C2) provided between a reference conductive path (93) and one of first and second conductive paths (91, 92); first and second cut-off switches (71, 72) interposed between a first external power supply (61) and the first capacitor (C1) and between a second external power supply (62) and the second capacitor (C2); and a control unit (12) that switches the first and second cut-off switches (71, 72) between an on state and an off state, wherein, in a case where a switch from cut-off control that maintains the first and second cut-off switches (71, 72) in the off state to energization control that maintains the first and second cut-off switches (71, 72) in the on state is performed, the control unit (12) performs intermittent control that intermittently places the first and second cut-off switches (71, 72) in the on state before the energization control.

The application discloses a kind of H∞ intermittent sampling load frequency security control method of multi-area power system under deception attack belongs to the technical field of power system safety control.In the application, intermittent control signal is only used in working interval, effectively save control cost, sampling control can save limited network bandwidth, and safety control effectively resists the influence of deception attack on multi-area power system.Firstly, according to the characteristics of intermittent control and sampling control, while considering the influence of deception attack, the dynamic model of intermittent sampling load frequency security control of multi-area power system under deception attack is established.Secondly, switching Lyapunov functional is proposed, and sufficient condition for the existence of intermittent sampling load frequency security controller is given in the framework of LMI, which guarantees the exponential stability of multi-area power system and meets H∞ performance.Finally, the effectiveness of the proposed H∞ intermittent sampling load frequency security controller is verified through simulation of three-area power system under deception attack.

The invention discloses a self-adaptive complex network fixed time synchronization method based on periodic intermittent control, and relates to the technical field of complex network synchronization control, and the self-adaptive complex network synchronization method comprises the steps: building a complex dynamic network model comprising a plurality of same linear coupling nodes, and enabling the coupling strength between the nodes to change along with the time; generating a synchronous error dynamic model according to a synchronous state equation and the complex dynamic network model; according to the rule that the coupling strength changes along with time, a periodic intermittent controller with fixed time is arranged; the periodic intermittent controller acts on the complex dynamic network model, so that the error between the complex dynamic network model and the synchronous state equation within a fixed time is close to zero. According to the invention, coupling cost can be reduced, energy consumption can be reduced, and network synchronization efficiency can be improved.

The invention discloses a multifunctional small table plate for rail transit, which relates to the technical field of high-speed rail equipment and comprises a support plate, a driving motor, a threaded rod, a threaded sleeve, a main table plate, an auxiliary table plate and an intermittent control assembly. The driving motor drives the threaded sleeve to move, and the first connecting rod drives the main table plate to rotate and unfold around the connecting support. The auxiliary table board can be stored in the main table board in a sliding mode and pulled outwards when the auxiliary table board needs to be prolonged. In the drawing process of the auxiliary table plate, a linkage mechanism drives a control rod to move downwards, a triangular clamping head crosses and hooks a control pushing head to achieve automatic segmented locking, retraction caused by external force or bumping is effectively prevented, and use stability is guaranteed. And during withdrawing, the unlocking mechanism needs to be slightly pulled and triggered to enable the L-shaped connecting rod to be separated from the control groove, and then the L-shaped connecting rod can be smoothly pushed back. One-key unfolding of the main table board and flexible length adjustment and reliable self-locking of the auxiliary table board are achieved, the structure is compact, operation is safe and convenient, and the table is particularly suitable for the rail transit environment.

The utility model discloses an anastomat EMC (Electro Magnetic Compatibility) tool which comprises a clamping space for clamping an anastomat, a turntable wheel arranged on a base, a movable device arranged at the top end of the base, a power supply device arranged on the base and a motor arranged on the base, electromagnetic radiation isolation covers are mounted on the power supply device and the motor; the moving device opens or closes the anastomat, the rotating disc wheel intermittently controls the moving device, so that the anastomat is intermittently controlled to be opened and closed, and the electromagnetic radiation isolation cover can reduce emission of electromagnetic radiation; compared with the prior art, the anastomat is intermittently opened and closed, the detection process of the anastomat is completely achieved, the influence of the motor and the power supply device on overall detection is effectively reduced, and the detection precision is improved.

A fuel supply system for an aircraft according to the present invention comprises: an intermediate tank which is fluidly connected to a fuel pump and an engine via a fuel supply path; a pressure sensor which detects the internal pressure of the intermediate tank or a tank pressure that is correlated with the internal pressure of the intermediate tank; and a processing circuit which executes intermittent control for controlling a pump actuator in accordance with the tank pressure. The intermittent control includes: when the tank pressure increases and reaches a first threshold value, controlling the pump actuator to stop the fuel pump in a state where supply of a fuel to the engine from the intermediate tank is allowed; and when the tank pressure decreases and reaches a second threshold value which is lower than the first threshold value, controlling the pump actuator to drive the fuel pump.

Intermittent control of an actuator 10 assembly e.g. a variable aperture (fig 2) or a lens 50 of a camera device to move a movable part 20 (e.g aperture blade) to a target location which may correspon

The invention belongs to the field of motor energy-saving control, and particularly relates to a fan group control method based on air volume decoupling distribution, which comprises the following steps: S1, parameter initialization and environment perception; s2, calculating a target total air volume based on a piecewise linear model of the dynamic temperature control bandwidth; s3, fan cluster total air volume integer distribution based on the energy efficiency optimal principle is executed; s4, long-period intermittent control is carried out on the remaining air volume; and S5, executing a life balance scheduling and dead zone protection mechanism based on space symmetry. Through cooperative work of parameter initialization, air volume decoupling, energy efficiency distribution and a space symmetric scheduling mechanism, low-cost, high-energy-efficiency, high-precision and uniform-airflow energy-saving regulation and control of a large-space controlled environment are achieved on the premise that frequency conversion transformation is not needed.

The invention relates to a two-stage event triggering finite time control method for a complex dynamic network, which comprises the following steps of: S1, constructing a system model, constructing a complex dynamic network CDN (Content Delivery Network) consisting of Q mutually coupled nodes, modeling each node, and setting a synchronization target of the complex dynamic network CDN; s2, an event-triggered intermittent traction pulse controller is designed, a novel time-triggered intermittent control strategy is designed, and the starting moment and the ending moment of a control window are determined with the help of a special auxiliary function by means of a two-stage event triggering mechanism; and S3, the complex dynamic network CDN carries out finite time synchronization by utilizing two-stage event trigger time control. According to the invention, a two-stage event triggering mechanism is designed for driving the start and end moments of a control window in intermittent control, and a controller is allowed to realize finite time synchronization in an intermittent operation mode.

The invention relates to a steam source automatic switching control method based on multi-parameter collaborative decision, and the method achieves the online precise recognition of a switching trigger condition through an automatic judgment mechanism based on multi-parameter collaborative decision, automatically judges the preheating completion state of a pipeline, and overcomes the limitations that a conventional control method depends on human experience, and is single in monitoring parameter. On the basis, a smooth valve control instruction is generated by utilizing the control targets of automatic step sequence, dynamic balance switching speed and process smoothness combined with intermittent control and cooperative adjustment, and accurate cooperative adjustment of the main steam source valve and the standby steam source valve is achieved. According to the method, on the premise that the pressure, the temperature and the water level of the deaerator are stable, the steam source switching time is remarkably shortened, parameter fluctuation in the switching process is reduced, and the flexibility and the safety of a unit to cope with start-stop peak regulation and deep peak regulation working conditions are improved.

The invention discloses a discrete agent-based load group modeling and consistency regulation and control method and system, and the method comprises the steps: building a discrete time load group model based on a load group, and enabling the discrete time load group model to comprise a leader and a plurality of followers; determining a system matrix including an adjacent matrix and a leader connection matrix; dividing the followers by using competition relationship representation; obtaining a low-gain state feedback matrix; setting the maximum response time of regulation and control; in the regulation and control process, a complete intermittent control protocol and a partial intermittent control protocol are generated; respectively calculating control tracks of followers under different control protocols and corresponding saturation constraint values; calculating a consistency error between the system states of the leader and the follower at the regulation and control time k; and judging whether the regulation process is ended or not according to the consistency error. According to the method, control paradigm innovation, heterogeneous system compatibility, time-varying demand adaptation, communication overhead optimization, stable performance guarantee and system self-evolution can be realized, and the flexibility, high efficiency and engineering practicability of power load regulation and control are remarkably improved.

The present application relates to a kind of zeolite molecular sieve adsorption and desorption exhaust purification device, including adsorption mechanism, translation mechanism and impurity removal mechanism, when the clogging appears in the runner mesh in zeolite runner, utilize translation mechanism to drive multiple first adsorption disc, second adsorption disc away from each other, then the mobile assembly in impurity removal mechanism drives intermittent control component and crushing component enter to the gap between first adsorption disc and second adsorption disc, under the drive of intermittent control component, crushing component swings back and forth to utilize brush to crush the clogging in runner mesh, then again utilize absorption component to absorb clogging, to realize the function of cleaning zeolite runner, on the one hand, the clogging in the runner mesh in existing runner can appear, to affect the problem of normal use of zeolite runner, on the other hand, a whole zeolite adsorption disc is separated into multiple independent adsorption disc, can guarantee the cleaning effect of zeolite runner.

The present application belongs to the field of motor energy-saving control, and specifically refers to a fan group control method based on air volume decoupling distribution, comprising the following steps: S1 parameter initialization and environment perception; S2 segmented linear model calculation of target total air volume based on dynamic temperature control bandwidth; S3 execution of fan cluster total air volume integer distribution based on energy efficiency optimization principle; S4 long-period intermittent control for residual air volume; and S5 execution of life balance scheduling and dead zone protection mechanism based on spatial symmetry. Through the cooperative work of parameter initialization, air volume decoupling, energy efficiency distribution and spatial symmetry scheduling mechanism, the present application realizes low-cost, high-energy efficiency, high-precision and airflow uniformity energy-saving regulation and control of large-space controlled environment without the need of frequency conversion modification.

The application provides a dynamic rotary friction coefficient tester and a friction coefficient acquisition method realized by the dynamic rotary friction coefficient tester. When the existing tools or equipment test the friction coefficient, the accumulated measurement error is large due to the deformation of the test tool, the rotational inertia and the contact delay, which affects the test accuracy. The bottom of the center transmission shaft assembly is connected with the bottom contact assembly through the main frame, the intermittent control assembly is arranged on the main frame, the intermittent control assembly is connected with the center transmission shaft assembly, the speed sensor is arranged at the center transmission shaft assembly, the torque sensor is arranged between the center transmission shaft assembly and the bottom contact assembly, when the center transmission shaft assembly is separated from the bottom of the top driving mechanism under the pulling action of the intermittent control assembly, the bottom contact assembly is in the non-test state, when the center transmission shaft assembly is connected with the bottom of the top driving mechanism under the pulling action of the intermittent control assembly, the top driving mechanism drives the bottom contact assembly through the center transmission shaft assembly to be in the test state.

The application discloses an event-based intermittent control method and system for a UAV formation, equipment and a medium, and relates to the technical field of UAV control.The application comprises: constructing a dynamic model of a UAV formation; constructing a state space model of a deception attack on the UAV formation based on graph theory; and constructing an intermittent control strategy based on an observer.The application uses the mathematical tools of graph theory to construct a dynamic model and a state space model of the UAV formation in detail, and on this basis, designs an efficient and economical intermittent control strategy based on an observer, which can detect and compensate external interference in real time by precisely defining the expected relative position and tracking error and by carefully designing a deception attack observer, so that the calculation amount and energy consumption are greatly reduced while the control performance is maintained, and in addition, the intermittent control strategy constructed further optimizes the energy efficiency of the UAV formation by intelligently adjusting the frequency of the control input.

The application provides a non-periodic intermittent-based fractional-order Chua circuit system finite time control method and system, comprising: setting an initial state of the fractional-order Chua circuit system, and measuring a state variable of the fractional-order Chua circuit system by using a sensor; constructing a finite time non-periodic intermittent controller by using the state variable measured by the sensor; converting a digital control signal output by the finite time non-periodic intermittent controller into a physical quantity by using an executor, and injecting the physical quantity into a corresponding node of the fractional-order Chua circuit system in a working interval, so as to realize finite time stable control of the fractional-order Chua circuit system. The application provides a new solution for finite time control of the fractional-order Chua circuit system, can be applied to fields such as chaos synchronization and secret communication, and has theoretical value and engineering practicability.

The utility model discloses a flange machining polishing device with a cooling structure, which belongs to the technical field of polishing devices, and comprises a machine body, a clamping block is rotatably arranged at the top end of a sliding seat, a cooling device is arranged on one side of the top end of the machine body, the cooling device comprises a box body, the bottom end of the box body is fixedly connected with a conveying pipe, and the bottom end of the conveying pipe is fixedly connected with a sliding seat. A pump machine is arranged on the side, close to the box body, of the outer surface of the machine body, and an output pipe is arranged at the other end of the pump machine. Cooling liquid is sprayed to the contact position of the first grinding wheel or the second grinding wheel and the surface of the flange through the two sprayers at the bottom end of the output pipe, the grinding position of the flange is cooled, the problem that the surface of the flange is deformed due to continuous temperature rise in the grinding process is avoided as much as possible, and intermittent control over operation of grinding equipment to cool the flange is not needed. And the use efficiency and practicability of the grinding equipment are improved.

The application belongs to the field of polishing test, and discloses a grinding material polishing test analysis method and device, the method comprising: S1, placing a test workpiece and a grinding sheet in a polishing test device, and performing multiple rounds of polishing test, each round of polishing test comprising an effective polishing stage and an intermittent control stage; S2, obtaining a surface image of the test workpiece after the polishing test of multiple rounds of cycles is completed; S3, calculating the surface image using an improved omnidirectional multi-scale detection algorithm to obtain a visual performance score of the grinding sheet. The application realizes no-missing response to multiple direction scratches through an omnidirectional filter and continuous direction interpolation, and significantly reduces the missing detection rate of multi-directional cross scratches. Based on the self-adaptive determination of the grinding sheet granularity number, multiple sets of detection scale parameters are determined, so that the filter can effectively capture different width scratches from coarse to fine at the same time, and the comparability of test results of different specifications of materials is ensured.

The application discloses a resilient intermittent control method and system for a single-link mechanical arm system under a deception attack, and the method comprises the following steps: constructing a model of the single-link mechanical arm system; under the deception attack, constructing an event triggering mechanism for the single-link mechanical arm system model; based on the single-link mechanical arm system model and the event triggering mechanism, constructing a fuzzy state estimator; based on the event triggering mechanism and the fuzzy state estimator, constructing a resilient adaptive controller by using a backstepping method; inputting the rotational inertia, the link mass and the link length of the single-link mechanical arm into the model of the single-link mechanical arm system, inputting the angle variable between the link after triggering the attack and the horizontal ground, the estimated angular velocity of the mechanical arm joint and the adaptive parameter value as the input values of the resilient adaptive controller, obtaining the output value of the resilient adaptive controller, and controlling the action of the single-link mechanical arm system based on the output value.

The invention relates to an intermittent fixed time cooperative control method for a heterogeneous unmanned aerial vehicle-unmanned vehicle system, and the method comprises the following steps: S1, a heterogeneous multi-agent system comprises a plurality of agents, and the plurality of agents comprise an unmanned aerial vehicle and an unmanned vehicle; s2, respectively establishing a motion mathematical model of the unmanned aerial vehicle and a motion mathematical model of the unmanned vehicle; s3, constructing a unified second-order nonlinear system model according to the motion mathematical model of the unmanned aerial vehicle and the motion mathematical model of the unmanned vehicle; s4, aiming at the unified second-order nonlinear system model, establishing an actual fixed time stability criterion based on a non-periodic intermittent control mechanism; and S5, based on a non-periodic intermittent control mechanism and an actual fixed time stability criterion, designing a non-periodic intermittent controller by using a backstepping technology, including a virtual controller, a controller and a parameter adaptive law. According to the technical scheme, the communication load and computing resource consumption of the system in the operation process are remarkably reduced, and time predictability is achieved.

The application discloses a kind of intercalation control method and system of dynamic platform, it is related to data processing and control technical field.The present application is according to the preset dynamic coordination mode configuration information, real-time monitoring and responding the instruction and state information sent by dynamic platform, to realize the accurate control to the action of player, according to the play setting parameter in the received instruction signal, determine whether the opening video is played immediately or delayed, increase the flexibility of experience, effectively solve the limitation of dynamic platform control method mentioned in background technology in individualization and dynamic adjustment experience, so that the present application dynamically adjusts play content and action response according to real-time data, improve the individualization and variability of user experience, while ensuring the accurate cooperation between player and dynamic platform, enhance the coherence of overall experience.

The invention provides a wave equation-based complex network space sampling intermittent containment synchronous control method, which comprises the following steps of: firstly, constructing a network topological graph of a multi-agent cluster, and respectively establishing state equations and error system models of a driving network and a response network according to complex network characteristics of a time-delay wave equation; then designing an intermittent containment controller based on spatial sampling information; selecting a part of network nodes in the response network as containment control nodes; the intelligent agent flexible structure corresponding to the network node has a controllable space, the controllable space is divided into a plurality of sub-regions, and local controllers with non-periodic intermittent control gains are designed for the sub-regions; designing an adaptive control law according to the local controller and the error system model; minimizing the displacement difference of synchronous motion nodes in the driving network and the response network is taken as a control target, and the controlled quantity of each local controller in the pinning control node is solved by utilizing the designed intermittent pinning controller and the adaptive control law thereof, so that the synchronization of the driving network and the response network is realized.

The present application relates to the technical field of power electronic control, and particularly relates to a light load control method, device, equipment and medium of a light storage front-stage LLC resonant converter, the method comprising: inputting the difference between an output voltage and a voltage reference value of a frequency loop into a PI controller of the frequency loop; intersecting a sawtooth carrier wave and a modulation wave to generate a driving signal of a primary side switch tube, comparing the driving signal with an output limit, and judging whether the frequency loop is in a saturation state; inputting the difference between the output voltage and a voltage reference value of an intermittent loop into a PI controller of the intermittent loop to generate an output value; comparing the output value with a preset threshold value, judging whether the intermittent loop is in a saturation state; judging the operating condition of the LLC resonant converter according to whether the frequency loop and the intermittent loop are in the saturation state, and taking intermittent control under a light load condition by setting an intermittent control loop, so as to widen the input voltage range of the LLC resonant converter and effectively solve the problem of excessively high voltage gain of traditional frequency conversion control under a light load condition.

The utility model discloses processing equipment for a core body in a disposable hygienic product, which relates to the technical field of hygienic product production equipment and comprises an adsorption die wheel, a first conveying mechanism, a first glue spraying mechanism, a first blanking mechanism, a second conveying mechanism, a second glue spraying mechanism and a second blanking mechanism, macromolecules are efficiently adsorbed through the adsorption cavity and discharged to the adhesive layer, the fluffy cotton is subjected to glue spraying through the second glue spraying mechanism, and another layer of macromolecules is overlaid on the fluffy cotton through the second discharging mechanism. Different adsorption cavities in the adsorption mold wheel are matched with the first discharging mechanism and the second discharging mechanism, and macromolecules are efficiently transferred in a negative-pressure macromolecule adsorption mode, so that the macromolecules can effectively penetrate into fluffy cotton in the middle, and the adsorption effect of the fluffy cotton is improved. Intermittent control in different forms can be realized by changing an adsorption grid of the mold wheel, the macromolecule spreading amount at different positions can be freely set, high-speed operation is realized, synchronous and same-speed online operation with a host is kept, and the stability of the product structure and quality is ensured.

The application discloses a control system of an electromagnetic valve, a clogging prevention device and a clogging prevention method. The control system comprises a signal input end, a control module, an intermediate relay and a blowing electromagnetic valve. The signal input end is connected with the input end of the control module, the output end of the control module is connected with the input end of the intermediate relay, and the output end of the intermediate relay is connected with the blowing electromagnetic valve. The first control signal of the signal input end is transmitted to the control module, the control module adjusts the state of the coil of the intermediate relay according to the first control signal, the state of the coil further adjusts the conduction or the shutdown of the blowing electromagnetic valve, at the first moment, the control module controls the coil to lose electricity, the coil losing electricity further controls the blowing electromagnetic valve to be shut down, at the second moment, the control module controls the coil to be electrified, the coil being electrified further controls the blowing electromagnetic valve to be conducted, and the first moment is adjacent to the second moment. Through the technical scheme, the intermittent control of the blowing electromagnetic valve can be realized, and the cost of manpower can be saved.

The application discloses a multifunctional small table plate for rail transit, and relates to the technical field of high-speed rail equipment.The multifunctional small table plate comprises a support plate, a driving motor, a threaded rod, a threaded sleeve, a main table plate, a sub table plate and an intermittent control assembly.The driving motor drives the threaded sleeve to move, and the main table plate is driven to rotate and unfold around the connecting support through the first connecting rod.The sub table plate can be slidably accommodated in the main table plate and is pulled outwards when it needs to be extended.The key lies in the intermittent control assembly: during the pulling process of the sub table plate, the linkage mechanism drives the control rod to move downwards, the triangular chuck head is made to pass over and hook the control push head to realize automatic segmented locking, external force or bumping is effectively prevented from causing retraction, and the use stability is ensured;when the sub table plate is retracted, the L-shaped connecting rod needs to be slightly pulled to trigger the unlocking mechanism to make the L-shaped connecting rod separate from the control groove, and then the sub table plate can be smoothly pushed back.The multifunctional small table plate realizes one-key unfolding of the main table plate, flexible length adjustment and reliable self-locking of the sub table plate, has compact structure, safe and convenient operation, and is particularly suitable for the rail transit environment.

This invention discloses a secure binary synchronization method for coupled neural networks based on average quasi-periodic intermittent control. By constructing a coupled neural network model comprising a target network and multiple follower networks, an error model between the follower and target networks is defined. Deception attack and random disturbance models are established for the intermittent control and non-control intervals, respectively. Using hybrid system theory, stochastic Lyapunov stability theory, and matrix inequality techniques, sufficient conditions for ensuring the mean-square exponential stability of the error system are derived. An aperiodic intermittent security controller is designed, which, by adjusting the control gain parameter and control interval, ensures the mean-square bounded stability of the error system, achieving secure binary synchronization of the coupled neural network. This method improves the control resilience and adaptability of the network under attacks and disturbances, and is applicable to distributed collaborative and secure control scenarios such as smart grids and sensor networks.