Kinematic Control of Serial Manipulators Under False Data Injection Attack  

作　　者：Yinyan Zhang Shuai Li 

机构地区：[1]College of Cyber Security,Jinan University,Guangzhou,China [2]College of Engineering,Swansea University,Swansea,United Kingdom

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第4期1009-1019,共11页自动化学报（英文版）

基　　金：This work was supported in part by the National Natural Science Foundation of China(62206109);the Fundamental Research Funds for the Central Universities(21620346)。

摘　　要：With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.

关 键 词：Cyber-physical systems false data injection attack MANIPULATORS remote kinematic control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP393.08[自动化与计算机技术—控制科学与工程]