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

被引：0

作者：

Huang, Xin ^{[1
]}

Chang, Chen-Xu ^{[1
]}

Xiao, Shu-Yi ^{[2
]}

Li, Xiao-Hang ^{[3
]}

机构：

[1] School of Automation Engineering, Northeast Electric Power University, Jilin

[2] College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan

[3] Department of General Information System, Northern Information Control Research Institute Group Co., Ltd., Nanjing

来源：

Zidonghua Xuebao/Acta Automatica Sinica | 2024年 / 50卷 / 12期

基金：

中国国家自然科学基金;

关键词：

cooperative interaction observer; cyber-attacks; cyber-physical systems (CPS); Flexible-joint robotic manipulator; secure control; T-S fuzzy model;

D O I：

10.16383/j.aas.c240066

中图分类号：

学科分类号：

摘要：

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. © 2024 Science Press. All rights reserved.

引用

页码：2487 / 2498

页数：11

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