基于模糊协同交互型观测器的柔性关节机械臂信息物理融合系统的安全控制

黄鑫; 畅晨旭; 李小杭; 肖舒怡

doi:10.16383/j.aas.c240066

基于模糊协同交互型观测器的柔性关节机械臂信息物理融合系统的安全控制

doi: 10.16383/j.aas.c240066

1.
东北电力大学自动化工程学院吉林 132012
2.
北方信息控制研究院集团有限公司信息总体部南京 211100
3.
太原理工大学电气与动力工程学院太原 030024

基金项目: 吉林省自然科学基金(YDZJ202201ZYTS379), 国家自然科学基金(62103094), 中国国家留学基金, 东北电力大学博士科研启动基金(BSJXM-2021107), 山西省基础研究计划项目(202203021222101)资助

详细信息

作者简介:
黄鑫：东北电力大学自动化工程学院教授. 主要研究方向为信息物理系统安全控制, 模糊控制, 容错控制, 多智能体系统协同控制及其应用. E-mail: huangxin@neepu.edu.cn

畅晨旭：东北电力大学自动化工程学院硕士研究生.主要研究方向为信息物理系统的安全控制. E-mail: ccxzhongshuo@163.com

李小杭：北方信息控制研究院集团有限公司工程师, 主要研究方向为网络信息体系及信息物理系统的安全控制. E-mail: huangxin@neepu.edu.cn

肖舒怡：太原理工大学电气与动力工程学院讲师, 主要研究方向为多智能体系统协同控制, 鲁棒自适应控制和容错控制. E-mail: xiaoshuyi@tyut.edu.cn

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出版历程
- 网络出版日期: 2024-08-29

Secure Control for Flexible-joint Robotic Manipulator Cyber-physical Systems Based on Fuzzy Cooperative Interaction Observer

1.
School of Automation Engineering, Northeast Electric Power University, Jilin 132012
2.
Department of General Information, Northern Information Control Research Institute Group Co., Ltd., Nanjing 211100
3.
College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024

Funds: Supported by Natural Science Foundation of Jilin Province (YDZJ202201ZYTS379), National Natural Science Foundation of China (62103094), Doctoral Scientific Research Foundation of Northeast Electric Power University (BSJXM-2021107), Fundamental Research Program of Shanxi Province (202203021222101).

More Information

Author Bio:
HUANG XIN　Professor at the School of Automation Engineering, Northeast Electric Power University. His research interest covers cyber-physical system security control, fuzzy control, fault-tolerant control, multi-agent system cooperative control, and their applications

CHANG Chen-Xu　Master student at the School of Automation Engineering, Northeast Electric Power University. His main research interest is secure control of cyber-physical systems

LI Xiao-Hang　Engineer at Northern Information Control Research Institute Group Co., Ltd. His research interest covers network information systems and security control of cyber-physical systems

XIAO Shu-Yi　Lecture at the College of Electrical and Power Engineering, Taiyuan University of Technology. Her research intrerest covers cooperative control of multi-agent systems, robust adaptive control and fault-tolerant control

摘要

摘要: 本文研究了柔性关节机械臂信息物理融合系统在传感器测量和执行器输入受到网络攻击时的安全控制问题. 首先, 用T-S 模糊模型描述柔性关节机械臂系统, 描述后的模型可能存在不可测量或可测量但受传感器攻击影响的前件变量, 这些前件变量直接用于构建模糊控制器会影响控制器的控制效果. 因此, 提出一类模糊协同交互观测器来构造新的、可靠的、可利用的前件变量. 同时, 该观测器能够与包含攻击估计误差信息的辅助系统进行协同交互. 与已有结果相比, 所提出的观测器通过协同交互结构, 充分利用了攻击估计误差信息, 提高攻击信号的重构精度. 在此基础上, 提出了一种具有攻击补偿结构的安全控制方案, 从而消除了传感器和执行器攻击对柔性关节机械臂信息物理融合系统性能的影响. 仿真结果验证了所提出的安全控制方案的有效性.
- 柔性关节机械臂 /
- 信息物理融合系统 /
- 网络攻击 /
- T-S 模糊模型 /
- 协同交互型观测器 /
- 安全控制
Abstract: The paper investigates secure control problems of flexible-joint robotic manipulator cyber-physical systems against cyber-attacks on sensor measurements and actuator inputs. Firstly, flexible-joint robotic manipulator cyber-physical systems are described by the T-S fuzzy model, in which there may exist premise variables (PVs) not measured, or measured but influenced by the sensor attacks. If these PVs are directly used to construct the fuzzy controller, the control performance will be affected. Therefore, a fuzzy cooperative interaction observer is proposed to construct new, reliable and available PVs. And also the observers can cooperate with the auxiliary system which contains attack estimation error (AEE) information. Different from existing results, the proposed observer makes full use of the AEE information by the cooperative interaction, resulting in improvement of reconstruction accuracy of the attack signal. Furthermore, a class of secure control scheme with the attack compensation structure is given such that the influence of sensor and actuator attacks on flexible-joint robotic manipulator cyber-physical system performances is removed. The effectiveness of the proposed secure control scheme is verified by simulation.
- Flexible-joint robotic manipulator /
- cyber-physical systems /
- cyber-attacks /
- T-S fuzzy model /
- cooperative interaction observer /
- secure control

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图 1 网络攻击下的单连杆柔性关节机械臂信息物理融合系统

Fig. 1 Single-link flexible-joint robotic manipulator cyber-physical systems under cyber-attacks

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图 2 在 3.1.1 节中考虑的攻击信号与分别基于所提出的 CIO, 文献[25] 中的 PIO 和文献[31] 中的 SFEO 的重构信号的对比

Fig. 2 Comparison of the attack signals considered in section 3.1.1 with the reconstruction signals based on the proposed CIO, the PIO in [25] and the SFEO in [31], respectively

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图 3 系统受到 3.1.1 节中考虑的攻击时, 在分别基于提出的 CIO, 文献[25] 的 PIO 与文献[31] 的 SFEO 的安全控制器 $ U $ 下的系统状态响应曲线

Fig. 3 System state response curves under the security controller $U$ based on the proposed CIO, the PIO in [25] and the SFEO in [31], respectively, when the system is attacked by the one considered in section 3.1.1

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图 4 在 3.1.2 节中考虑的攻击信号与所提出观测器的重构信号的对比

Fig. 4 Comparison of the attack signals considered in section 3.1.2 with the reconstruction signals of the proposed observer

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图 5 系统受到 3.1.2 节中考虑的攻击时, 在基于所提出观测器的安全控制器 $ U $ 下的系统状态响应曲线

Fig. 5 System state response curves under the security controller $U$ based on the proposed observer when the system is attacked by the one considered in section 3.1.2

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图 6 硬件在环实验平台

Fig. 6 The Hardware-in-the-loop experimental platform

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图 8 系统受到 3.2.1 节中考虑的攻击时, 在分别基于提出的 CIO, 文献[25] 的 PIO 与文献[31] 的 SFEO 的安全控制器 $ U $ 下的系统状态响应曲线

Fig. 8 System state response curves under the security controller $U$ based on the proposed CIO, the PIO in [25] and the SFEO in [31], respectively, when the system is attacked by the one considered in section 3.2.1

下载: 全尺寸图片幻灯片

图 7 在 3.2.1 节中考虑的攻击信号与分别基于所提出的 CIO, 文献[25] 中的 PIO 和文献[31] 中的 SFEO 的重构信号的对比

Fig. 7 Comparison of the attack signals considered in section 3.2.1 with the reconstruction signals based on the proposed CIO, the PIO in [25] and the SFEO in [31], respectively

下载: 全尺寸图片幻灯片

图 9 在 3.2.2 节中考虑的攻击信号与所提出观测器的重构信号的对比

Fig. 9 Comparison of the attack signals considered in section 3.2.2 with the reconstruction signals of the proposed observer

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图 10 系统受到 3.2.2 节中考虑的攻击时, 在基于所提出观测器的安全控制器 $ U $ 下的系统状态响应曲线

Fig. 10 System state response curves under the security controller $U$ based on the proposed observer when the system is attacked by the one considered in section 3.2.2

下载: 全尺寸图片幻灯片

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