有向拓扑下网络化运动控制系统的容侵同步控制  

Intrusion-tolerant Synchronization Control for Networked Motion Control System Under Directed Topology

作　　者：董云帆 朱俊威 顾曹源 Dong Yunfan;Zhu Junwei;Gu Caoyuan(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《计算机测量与控制》2020年第3期109-113,118,共6页Computer Measurement &Control

基　　金：国家自然科学基金(61803334);浙江省自然科学基金(LQ18F030012)。

摘　　要：针对有向通信拓扑下网络化多轴运动控制系统受到网络攻击威胁及未建模不确定性影响,其轨迹同步控制精度迅速下降,提出了一种基于分布式中间观测器的容侵同步控制方法;首先将非线性未建模不确定性分解成控制通道匹配分量和不匹配分量,进而将攻击、领航者的参考输入和非线性匹配部分合并成一个组合未知输入信号,通过设计分布式中间观测器对跟踪误差系统的状态、组合未知输入信号进行估计并设计容侵同步控制协议;利用李雅普诺夫函数证明跟踪误差系统稳定性;网络化多轴运动控制系统的实验结果表明所提方法能够保证系统具有良好的容侵同步控制性能,并且能够通过调节特定参数确保跟踪误差系统对于不匹配非线性不确定性的鲁棒性。Under the threat of cyber-attack and unmodelled uncertainty,the synchronization control performance for the multiaxis networked motion control system with directed graphs may deteriorate rapidly,hence a distributed intrusion-tolerant synchronization control method based on distributed intermediate observer was proposed for case with directed graphs.The nonlinear unmodelled uncertainty was decomposed into matched component and mismatched component respectively.The attack,the leader’s unknown input and the matched uncertainty were combined as one signal,then the states of the tracking error and the combined signal were estimated by the designed distributed intermediate estimator.Based on the estimates,an intrusion-tolerant synchronization control protocol was designed.The tracking error system was proved to be stable via Lyapunov analysis.The experimental results show that the proposed method guarantees the multi-axis motion control system to have a good intrusion-tolerant and synchronization control performance,meanwhile,the robustness can be ensured by adjusting specific parameters.

关 键 词：网络化多轴运动控制系统 有向通信拓扑 分布式中间观测器 容侵同步控制 调节参数 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]