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基于博弈论的信息物理融合系统安全控制

庞岩 王娜 夏浩

庞岩, 王娜, 夏浩. 基于博弈论的信息物理融合系统安全控制. 自动化学报, 2019, 45(1): 185-195. doi: 10.16383/j.aas.2018.c180365
引用本文: 庞岩, 王娜, 夏浩. 基于博弈论的信息物理融合系统安全控制. 自动化学报, 2019, 45(1): 185-195. doi: 10.16383/j.aas.2018.c180365
PANG Yan, WANG Na, XIA Hao. A Game Theory Approach for Secure Control of Cyber-physical Systems. ACTA AUTOMATICA SINICA, 2019, 45(1): 185-195. doi: 10.16383/j.aas.2018.c180365
Citation: PANG Yan, WANG Na, XIA Hao. A Game Theory Approach for Secure Control of Cyber-physical Systems. ACTA AUTOMATICA SINICA, 2019, 45(1): 185-195. doi: 10.16383/j.aas.2018.c180365

基于博弈论的信息物理融合系统安全控制

doi: 10.16383/j.aas.2018.c180365
基金项目: 

国家自然科学基金 61273098

中央高校基本科研业务 DUT16QY23

辽宁省自然科学基金 20180520023

详细信息
    作者简介:

    庞岩   大连理工大学航空航天学院副教授.主要研究方向为混杂系统与非线性系统控制, 信息物理融合系统弹性控制.E-mail:ypang@dlut.edu.cn

    王娜   上海飞机设计研究院助理工程师.2018年于大连理工大学航空航天学院获得硕士学位.主要研究方向为信息物理融合系统的安全控制, 飞机控制律设计.E-mail:wangna1@comac.cc

    通讯作者:

    夏浩  大连理工大学控制科学与工程学院教授.主要研究方向为控制器评价, 过程控制.本文通信作者.E-mail:hao.x.xia@dlut.edu.cn

A Game Theory Approach for Secure Control of Cyber-physical Systems

Funds: 

National Natural Science Foundation of China 61273098

Fundamental Research Funds for the Central Universities DUT16QY23

Natural Science Foundation of Liao Ning Province 20180520023

More Information
    Author Bio:

      Associate professor at the School of Aeronautics and Astronautics, Dalian University of Technology. Her research interest covers control of hybrid and nonlinear systems, and resilient control of CPSs

       Assistant engineer at Shanghai Aircraft Design and Research Institute. She received her master degree from the School of Aeronautics and Astronautics, Dalian University of Technology in 2018. Her research interest covers secure control of cyber-physical systems, and aircraft control law design

    Corresponding author: XIA Hao    Professor at the School of Control Science and Engineering, Dalian University of Technology. His research interest covers control system performance assessment and advance process control. Corresponding author of this paper
  • 摘要: 对于远程复杂的操控系统,信息物理融合系统(Cyber-physical system,CPS)主要依靠无线网络实现从传感器到控制器,从控制器到执行器间的信息传输,由于其依靠网络传输数据的特性使其控制系统极易遭到安全威胁.本文从物理系统入手,意图保护CPS系统中物理实体的正常运行不受由于恶意攻击造成网络空间入侵带来的干扰.以受到数据包时序攻击的信息物理融合系统为研究对象,将其安全性研究抽象为一个博弈过程,基于非合作博弈的两人零和博弈模型,设计了可变延迟情况下鲁棒输出反馈的极大极小控制器.并且采用参数化的软约束二次型目标函数,在控制器设计时引入干扰衰减因子γ,通过对γ的取值使得二次型目标函数取极小值,从而保证了最差情况下的稳定控制,在满足γ的约束条件下,本文通过粒子群搜索算法得出γ的值.另外,本文还对所设计的极大极小控制器,与线性二次型高斯(Linear quadratic Gaussian,LQG)控制对比分析,用双水箱系统进行了仿真验证,发现在受攻击情况下本文所设计的控制器最终能够实现稳定控制,而LQG却不能.
    1)  本文责任编委 许斌
  • 图  1  无线传感器网络控制系统模型

    (虚线表示无线网络, 实线表示有线网络)

    Fig.  1  Model of wireless sensor network control system

    (The dashed line shows the wireless network, and the solid line shows the wired network.)

    图  2  LQG控制器结构图

    Fig.  2  LQG controller structure diagram

    图  3  极大极小控制器结构图

    Fig.  3  Minimax controller structure diagram

    图  4  数据传输示意图

    Fig.  4  Schematic diagram of data transmission

    图  5  可变延迟下的数据传输示意图

    Fig.  5  A schematic diagram of data transmission under variable delay

    图  6  双水箱物理模型

    Fig.  6  Physical model of double water tanks

    图  7  线性模型和非线性模型仿真对比图

    Fig.  7  Comparison of linear and nonlinear models

    图  8  LQG控制输出图

    Fig.  8  LQG control output diagram

    图  9  LQG控制的输入值

    Fig.  9  Input value of LQG control

    图  10  极大极小控制器的输出图

    Fig.  10  The output diagram of the min-max controller

    图  11  极大极小控制器的输入值

    Fig.  11  The input value of the minimax controller

    图  12  受攻击下的极大极小控制器输出响应

    Fig.  12  Output response of minimax controller under attack

    图  13  受攻击下的极大极小控制器输入值

    Fig.  13  Input value of the min-max controller under attack

    表  1  水箱参数

    Table  1  Water tank equipment parameters

    名称参数大小
    设备质量6.6 kg
    模型尺寸$(H\times W\times L)$30.5 cm$\times$ 30.5 cm$\times$ 91.5 cm
    泵流量常数3.3 cm$^3$/(V$\cdot$s)
    压力传感器灵敏度6.1 cm/V
    水箱高度30 cm
    水箱内部直径4.45 cm
    流出孔直径0.48 cm
    下载: 导出CSV
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  • 收稿日期:  2018-05-30
  • 录用日期:  2018-08-27
  • 刊出日期:  2019-01-20

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