Secure Control for Flexible-joint Robotic Manipulator Cyber-physical Systems Based on Fuzzy Cooperative Interaction Observer
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摘要: 本文研究了柔性关节机械臂信息物理融合系统 (Cyber-physical systems, CPS) 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 CPS, 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(Premise variables, PVs), 这些 PVs 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 PVs. 同时, 该观测器能够与包含攻击估计误差(Attack estimation error, AEE)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 AEE 信息, 提高了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CPS 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.Abstract: This paper investigates secure control problems of flexible-joint robotic manipulator cyber-physical systems (CPS) against cyber-attacks on sensor measurements and actuator inputs. Firstly, flexible-joint robotic manipulator CPS 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 structure, 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 CPS performances is removed. The effectiveness of the proposed secure control scheme is verified by simulation results.
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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
图 3 系统受到第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$based on the proposed CIO, the PIO in reference [25] and the SFEO in reference [31], respectively, when the system is attacked by the one considered in section 3.1.1
图 4 在第3.1.2 节中考虑的攻击信号与所提出观测器的重构信号的对比
Fig. 4 Comparison of the attack signals considered in section 3.1.2 with the reconstruction signals of the proposed observer
图 5 系统受到第3.1.2 节考虑的攻击时, 在基于所提出观测器的安全控制器$ U $下的系统状态响应曲线
Fig. 5 System state response curves under the security controller$U$based on the proposed observer when the system is attacked by the one considered in section 3.1.2
图 8 系统受到第3.2.1 节中考虑的攻击时, 在分别基于提出的 CIO, 文献[25] 的 PIO 与文献[31] 的 SFEO 的安全控制器$ 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 reference [25] and the SFEO in reference [31], respectively, when the system is attacked by the one considered in section 3.2.1
图 9 在第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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