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Publications
Book
K. Liu, E. Fridman, and Y. Xia.
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Networked Control Under Communication Constraints: A Time-Delay Approach,"
Springer, 258 pp., 2020.
Selected Journal Papers (#Graduate student, *Corresponding author)
G. Su#, K. Liu*, H. Wang, Q. Zhang, and Y. Xia.
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Reachability analysis of interconnected systems under stealthy attacks,"
Automatica, Volume 181:112520, November 2025 (Regular Paper).
Y. Lin#, K. Liu*, I. Bistritz, Q. Ma, and Y. Xia.
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Quantization enabled differential privacy in bandit games with cooperative players,"
IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2025.3579224, 2025.
D. Han#, K. Liu*, Y. Xia, and L. Xie.
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Byzantine-robust distributed stochastic non-convex optimization in adversarial environments over unbalanced networks,"
IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2025.3579218, 2025 (Full Paper).
韩冬昱, 刘涛，王志远，李俊韬， 刘坤*, 夏元清.
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基于自适应步长的隐私保护分布式非凸优化,"
控制理论与应用, 2025.
韩冬昱, 刘坤*, 王璐瑶, 夏元清.
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对抗环境下拜占庭鲁棒的分布式纵向学习,"
中国指挥与控制学报, 2025.
L. Zhao#, H. Wang#, K. Liu*, L. Zhao, and Y. Xia.
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Attack detection for multi-sensor cyber-physical systems with unknown-but-bounded noises: A zonotopic approach,"
IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2025.3550343, 2025.
C. Xia#, K. Liu*, H. Wang, T. Liu, J. Li, and Y. Xia.
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Co-design of watermarking and controller for reducing detection delay of replay attacks,"
International Journal of Robust and Nonlinear Control, 35, 3436-3447, June 2025.
H. Wang#, K. Liu*, B. Li, E. Fridman, and Y. Xia.
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Privacy and security trade-off in interconnected systems with known or unknown privacy noise covariance,"
Automatica, Volume 173: 112071, March 2025.
王璐瑶，刘博涵，曾恩， 刘坤*, 夏元清.
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时间序列分类模型的集成对抗训练防御方法,"
自动化学报, 51(1), 144-160, January 2025.
D. Han#, K. Liu*, Y. Lin, and Y. Xia.
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Distributed adaptive gradient algorithm with gradient tracking for stochastic non-convex optimization,"
IEEE Transactions on Automatic Control, 69(9), 6333-6340, September 2024.
L. Wu#, H. Wang#, K. Liu*, L. Zhao, and Y. Xia.
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Privacy and security trade-off in cyber-physical systems: An information theory-based framework,"
International Journal of Robust and Nonlinear Control, 34(8), 5110-5125, 25 May 2024.
G. Su#, K. Liu*, H. Wang, Q. Zhang, and Y. Xia.
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Optimal stealthy joint attacks against distributed state estimation in cyber-physical systems,"
IEEE Transactions on Control of Network Systems, 34(8), 5110-5125, 2024.
Y. Lin#, K. Liu*, D. Han, and Y. Xia.
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Statistical privacy-preserving online distributed Nash equilibrium tracking in aggregative games,"
IEEE Transactions on Automatic Control, 69(1), 323-330, January 2024.
H. Wang#, K. Liu*, D. Han, and Y. Xia.
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Vulnerability analysis of distributed state estimation under joint deception attacks,"
Automatica, Volume 157, 111274, November 2023.
H. Wang#, K. Liu*, D. Han, S. Chai, and Y. Xia.
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Privacy-preserving distributed online stochastic optimization with time-varying distributions,"
IEEE Transactions on Control of Network Systems, 10(2), 1069-1082, June 2023.
张淇瑞, 刘坤*, 李江荣，代伟, 夏元清.
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基于互信息的云控制系统的最优隐私保护机制设计,"
中国指挥与控制学报, 9(3):245-252, June 2023.
Q. Zhang#, K. Liu*, A. M. H. Teixeira, Y. Li, S. Chai, and Y. Xia.
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An online Kullback-Leibler divergence-based stealthy attack against cyber-physical systems,"
IEEE Transactions on Automatic Control, 68(6), 3672-3679, June 2023.
Q. Zhang#, K. Liu*, D. Han, G. Su, and Y. Xia.
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Design of stealthy deception attacks with partial system knowledge,"
IEEE Transactions on Automatic Control, 68(2), 1069-1076, February 2023.
Y. Li, L. Wang, K. Liu*, W. He, Y. Yin, and R. Johansson.
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Distributed neural-network-based cooperation control for teleoperation of multiple mobile manipulators under Round-Robin protocol,"
IEEE Transactions on Neural Networks and Learning Systems, 34(8), 4841-4855, August 2023.
W. Wei, N. Chen, Z. Zhang, Z, Liu, M. Zuo, K. Liu*, and Y. Xia.
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A scalable-bandwidth extended state observer based adaptive sliding mode control for the dissolved Oxygen in a wastewater treatment process,"
IEEE Transactions on Cybernetics, 52(12), 13448-13457, December 2022.
D. Han#, K. Liu*, H. Sandberg, S. Chai, and Y. Xia.
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Privacy-preserving dual averaging with arbitrary initial conditions for distributed optimization,"
IEEE Transactions on Automatic Control, 67(6), 3172-3179, June 2022.
Q. Zhang#, K. Liu*, Z. Pang, Y. Xia, and T. Liu.
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Reachability Analysis of cyber-physical systems under stealthy attacks,"
IEEE Transactions on Cybernetics, 52(6), 4926-4934, June 2022.
D. Han#, K. Liu*, Y. Lin, and Y. Xia.
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Differentially private distributed online learning over time-varying digraphs via dual averaging,"
International Journal of Robust and Nonlinear Control, 32(5), 2485-2499, Mar 25 2022.
W. Jiang, K. Liu*, and T. Charalambous.
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Multi-agent consensus with heterogeneous time-varying input andcommunication delays in digraphs,"
Automatica, 135, 109950, January 2022.
K. Liu, Q. Zhang, D. Han, A. Ma, and Y. Xia.
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Distributed model predictive control for nonholonomic multivehicle formation tracking,"
International Journal of Robust and Nonlinear Control, 31(18), 8961–8973, Dec 2021.
A. Ma#, K. Liu*, Q. Zhang, T. Liu, and Y. Xia.
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Event-triggered distributed MPC with variable prediction horizon,"
IEEE Transactions on Automatic Control, 66(10), 4873-4880, Oct 2021.
刘坤, 郑晓帅, 林业茗, 韩乐, 夏元清.
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基于微分博弈的追逃问题最优策略设计,"
自动化学报, 47(8), 1000-1014, Aug 2021.
T. Liu, D. Han*, Y. Lin, T. Liu, and K. Liu*.
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Distributed multi-UAV trajectory optimization over directed networks,"
Journal of The Franklin Institute, 358(10), 5470-5487, July 2021.
A. Ma#, Q. Cheng, K. Liu*, and Y. Xia.
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Time optimal model predictive control for linear systems based on ellipsoidal and polytopic sets,"
International Journal of Control, 94(8), 2215–2223, Aug 3 2021.
刘坤, 马书鹤, 马奥运, 张淇瑞, 夏元清.
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基于机器学习的信息物理系统安全控制,"
自动化学报, 47(6), 1273-1283, June 2021.
Y. Li, K. Zhang, K. Liu*, R. Johansson, and Y. Yin.
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Neural-network-based adaptive control for bilateral teleoperation with multiple slaves under Round-Robin scheduling protocol,"
International Journal of Control, 94(6), 1461-1474, Jun 3 2021.
刘坤, 张淇瑞, 郭航, 刘涛, 夏元清.
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隐蔽式攻击下的离散系统区间观测器设计,"
控制理论与应用, 37(8), 1673-1680, 2020.
A. Ma#, K. Liu*, Q. Zhang, and Y. Xia.
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Distributed MPC for linear discrete-time systems with coupled states and disturbances,"
Systems & Control Letters, 135, 104578, 2020.
Y. Li, K. Liu*, W. He, Y. Yin, R. Johansson, and K. Zhang.
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Bilateral teleoperation of multiple robots under scheduling communication,"
IEEE Transactions on Control Systems Technology, 28(5), 1770-1784, 2020.
Q. Zhang#, K. Liu*, Y. Xia, and A. Ma.
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Optimal stealthy deception attack against cyber-physical systems,"
IEEE Transactions on Cybernetics, 50(9), 3963-3972, 2020.
K. Liu, H. Guo, Q. Zhang, and Y. Xia.
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Distributed secure filtering for discretetime systems under Round-Robin protocol and deception attacks,"
IEEE Transactions on Cybernetics, 50(8), 3571-3580, 2020.
K. Liu, A. Selivanov, and E. Fridman.
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Survey on time-delay approach to networked control,"
Annual Reviews in Control, 48, 57-79, 2019.
K. Liu, A. Ma, Y. Xia, Z. Sun, and K. H. Johansson.
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Network scheduling and control co-design for multi-loop MPC,"
IEEE Transactions on Automatic Control, 64(12), 5238-5245, 2019.
K. Liu, A. Seuret, Y. Xia, F. Gouaisbaut and Y. Ariba.
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Bessel-Laguerre inequality and its application to systems with infinite distributed delays,"
Automatica, 109, 108562, 2019.
X. Yi, K. Liu*, D. V. Dimarogonas, and K. H. Johansson.
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Dynamic event-triggered and self-triggered control for multi-agent systems,"
IEEE Transactions on Automatic Control, 64(8), 3300-3307, 2019.
K. Liu, A. Seuret, E. Fridman, and Y. Xia.
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Improved stability conditions for discrete-time systems under dynamic network protocols,"
International Journal of Robust and Nonlinear Control, 28(15), 4479–4499, 2018.
A. Seuret, K. Liu*, and F. Gouaisbaut.
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Generalized reciprocally convex combination lemmas and its application to time-delay systems,"
Automatica, 95, 488-493, 2018.
K. Liu, A. Seuret.
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Comparison of bounding methods for stability analysis of systems with time-varying delays,"
Journal of The Franklin Institute, 354(7), 2979-2993, 2017.
K. Liu, A. Seuret, and Y. Xia.
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Stability analysis of systems with time-varying delays via the second-order Bessel-Legendre inequality,"
Automatica, 76, 138-142, 2017.
K. Liu, E. Fridman, K. H. Johansson, and Y. Xia.
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Quantized control systems under Round-Robin protocol,"
IEEE Transactions on Industrial Electronics, 63(7): 4461-4471, 2016.
K. Liu, E. Fridman, K. H. Johansson, and Y. Xia.
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Generalized Jensen inequalities with application to stability analysis of systems with distributed delays over infinite time-horizons,"
Automatica, 69: 222-231, 2016.
K. Liu, E. Fridman, and K. H. Johansson.
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Networked control with stochastic scheduling,"
IEEE Transactions on Automatic Control, 60(11): 3071-3076, 2015.
K. Liu, E. Fridman, and L. Hetel.
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Networked control systems in the presence of scheduling protocols and communication delays,"
SIAM Journal on Control and Optimization, 53(4), 1768-1788, 2015.
K. Liu, E. Fridman, and K. H. Johansson.
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Dynamic quantization of uncertain linear networked control systems,"
Automatica, 59: 248-255, 2015.
K. Liu, E. Fridman.
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Discrete-time network-based control under scheduling and actuator constraints,"
International Journal of Robust and Nonlinear Control, 25(12): 1816-1830, 2015.
K. Liu, E. Fridman.
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Delay-dependent methods and the first delay interval,"
Systems & Control Letters, 64(1): 57-63, 2013.
K. Liu, E. Fridman.
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Wirtinger’s inequality and Lyapunov-based sampled-data stabilization,"
Automatica, 48(1): 102-108, 2012.
K. Liu, E. Fridman, and L. Hetel.
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Stability and L2-gain analysis of networked control systems under Round-Robin scheduling: a time-delay approach,"
Systems & Control Letters, 61(5): 666-675, 2012.
K. Liu, E. Fridman.
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Networked-based stabilization via discontinuous Lyapunov functionals,"
International Journal of Robust and Nonlinear Control, 22(4): 420-436, 2012.
K. Liu, V. Suplin, and E. Fridman.
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Stability of linear systems with general sawtooth delay,"
IMA Journal of Mathematical Control and Information, 27(4): 419-436, 2010.
Selected Conference Papers
K. Liu, E. Fridman.
"Stability analysis of networked control systems: a discontinuous Lyapunov functional approach,"
In Proceedings of the 48th IEEE CDC, Shanghai, China, 2009.
专利
刘坤，韩冬昱，林业茗等.
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一种基于非随机隐私保护分布式深度学习的信号处理方法. 专利号：，授权公告号：，授权公告日：2025-06-26.
刘坤等.
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一种基于DRL模型的网络威胁处置策略智能自进化生成方法. 专利号：ZL 2023 1 0408850.4，授权公告号：CN 116319060 B，授权公告日：2024-08-16.
刘坤，曾恩，林业茗，郑晓帅，夏元清.
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追捕机器人不同速度下的追逃控制方法. 专利号：ZL 2021 1 0121751.9，授权公告号：CN 113552872 B，授权公告日：2024-05-14.
刘博涵，刘坤等.
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一种深度强化学习模型对抗攻击的防御方法. 专利号：ZL 2022 1 0432692.1，授权公告号：CN 114757351 B，授权公告日：2023-01-24.
刘坤，董昭财，张淇瑞，韩冬昱，夏元清.
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一针对麦克纳姆轮小车的隐蔽攻击策略获取方法. 专利号：ZL 2020 1 1469020.5，授权公告号：CN 112612269 B，授权公告日：2021-11-12.
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