网络化多轴运动控制系统的容侵同步控制  

Intrusion-tolerant synchronous control for networked multi-axis motion control system

作　　者：顾曹源 朱俊威 张文安[1,2] 俞立 董辉[1,2] GU Cao-yuan;ZHU Jun-wei;ZHANG Wen-an;YU Li;DONG Hui(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China;Zhejiang Joint Key Laboratory of Embedded System,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,杭州310023 [2]浙江省嵌入式系统联合重点实验室,杭州310023

出　　处：《控制与决策》2019年第11期2289-2296,共8页Control and Decision

基　　金：国家自然科学基金项目(61803334,61822311,61673351);浙江省自然科学基金项目(LQ18F030012);NFSC—–浙江两化融合联合基金项目(U1709213)

摘　　要：针对网络攻击下的不确定网络化多轴运动控制系统,提出一种基于分布式中间观测器的容侵同步控制方法.首先将不确定性分解为匹配分量和不匹配分量,继而通过分布式中间观测器估计由执行器攻击、领航者的非零输入以及匹配不确定性分量构成的组合未知输入信号,进而设计基于估计值的容侵同步控制协议对匹配未知输入进行有效补偿,同时通过调节特定参数充分抑制不匹配不确定性效应,最终得到满意的容侵同步控制性能.In this paper,an intrusion-tolerant synchronization control method based on the distributed intermediate observer is proposed for uncertain networked multi-axis motion control systems under network attacks.Firstly,the uncertainties are decomposed into matched and mismatched components.Then,the combined unknown input signals consisting of actuator attack,leader’s non-zero input and matched uncertain components are estimated by the distributed intermediate observer.Based on the estimates,an intrusion tolerant synchronization control protocol is designed to compensate the matched unknown input effectively.At the same time,the mismatched uncertainties can be attenuated by adjusting the specific parameters.Finally,the satisfactory performance of intrusion tolerant synchronization control can be achieved.

关 键 词：网络化多轴运动控制系统 容侵同步控制 分布式中间观测器 攻击估计 调节参数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]