Secure LQG control for a Quadrotor under false data injection attacks

被引：15

作者：

Lin, Hong ^{[1
]}

Sun, Pei ^{[1
]}

Cai, Chenxiao ^{[2
]}

Lu, Shan ^{[1
]}

Liu, He ^{[1
]}

机构：

[1] Shenzhen Polytech, Inst Intelligence Sci & Engn, Shenzhen 518055, Peoples R China

[2] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2022年 / 16卷 / 09期

基金：

中国国家自然科学基金;

关键词：

STATE ESTIMATION; SYSTEMS;

D O I：

10.1049/cth2.12261

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The linear quadratic Gaussian (LQG) control for a quadrotor unmanned aerial vehicle (UAV) under false data injection attacks is studied. The LQG control depends on optimal state estimation, while this type of attacks makes the optimal state estimation unimplementable in practice. To address this problem, the authors prose a framework to detect attacks and then augment the information for controller design. Based on this framework, the LQG control is designed and a sufficient condition for the security of the closed-loop control system is given. Finally, the LQG controller is applied to a quadrotor UAV, and some experiments are carried out to illustrate its effectiveness.

引用

页码：925 / 934

页数：10

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