网络化运动控制系统的分布式攻击重构  

Distributed attack reconstruction for networked motion control systems

作　　者：朱俊威 梁朝阳 何德峰[1] ZHU Jun-wei;LIANG Chao-yang;HE De-feng(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：《控制与决策》2022年第11期2934-2940,共7页Control and Decision

基　　金：国家自然科学基金项目(61803334);浙江省自然科学基金项目(LZ21F030004);浙江省高校基本科研业务费项目(RF-C2020003)。

摘　　要：针对传感器网络下网络化运动控制系统的攻击重构问题,提出一种新的分布式投影中间估计器,以此估计传感器和执行器攻击信号.首先,引入投影算子确定受攻击的信道集,同时设计最小二乘算法减轻观测器在估计过程中的计算负担;然后,引入分布式估计框架以提高算法的可伸缩性和扩展性;最后,通过网络化运动控制系统的实验验证所提出方法的有效性.实验结果表明,所提出算法的估计精度和实时性分别优于现有的扩张状态观测器和梯度下降算法.This paper studies the attack reconstruction problem for networked motion control systems under sensor networks.A new distributed projected intermediate estimator(DPIE)is proposed to estimate the actuator and sensor attacks.A projection operator is introduced to determine the set of attacked signal channels.Meanwhile,a least square algorithm is designed to alleviate the computational burden of the observers in the process of generating new estimates.In addition,a distributed estimation framework is introduced to improve the scalability and scalability of the proposed algorithm.It is shown that both the estimation accuracy and real-time performance of the proposed algorithm are better than those of the existing extended state observer and gradient descent algorithm respectively.Finally,the experimental results of the motion control system verify the effectiveness of the proposed methods.

关 键 词：网络化运动控制系统 攻击重构 中间观测器 传感器网络 分布式估计 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]