基于模糊协同交互型观测器的柔性关节机械臂信息物理融合系统的安全控制  

Secure Control for Flexible-joint Robotic Manipulator Cyber-physical Systems Based on Fuzzy Cooperative Interaction Observer

作　　者：黄鑫 畅晨旭 肖舒怡 李小杭 HUANG Xin;CHANG Chen-Xu;XIAO Shu-Yi;LI Xiao-Hang(School of Automation Engineering,Northeast Electric Power University,Jilin 132012;College of Electrical and Power Engineering,Taiyuan University of Technology,Taiyuan 030024;Department of General Information System,Northern Information Control Research Institute Group Co.,Ltd.,Nanjing 211100)

机构地区：[1]东北电力大学自动化工程学院,吉林132012 [2]太原理工大学电气与动力工程学院,太原030024 [3]北方信息控制研究院集团有限公司信息系统总体部,南京211100

出　　处：《自动化学报》2024年第12期2487-2498,共12页Acta Automatica Sinica

基　　金：吉林省自然科学基金(YDZJ202201ZYTS379);国家自然科学基金(62103094);中国国家留学基金,东北电力大学博士科研启动基金(BSJXM-2021107);山西省基础研究计划项目(202203021222101)资助。

摘　　要：本文研究了柔性关节机械臂信息物理融合系统(Cyber-physical systems,CPS)在传感器测量和执行器输入受到网络攻击时的安全控制问题.首先,用T-S模糊模型描述柔性关节机械臂CPS,描述后的模型可能存在不可测量或可测量但受传感器攻击影响的前件变量(Premise variables,PVs),这些PVs直接用于构建模糊控制器会影响控制器的控制效果.因此,提出一类模糊协同交互观测器来构造新的、可靠的、可利用的PVs.同时,该观测器能够与包含攻击估计误差(Attack estimation error,AEE)信息的辅助系统进行协同交互.与已有结果相比,所提出的观测器通过协同交互结构,充分利用了AEE信息,提高了攻击信号的重构精度.在此基础上,提出了一种具有攻击补偿结构的安全控制方案,从而消除了传感器和执行器攻击对柔性关节机械臂CPS性能的影响.仿真结果验证了所提出的安全控制方案的有效性.This paper investigates secure control problems of flexible-joint robotic manipulator cyber-physical systems(CPS) against cyber-attacks on sensor measurements and actuator inputs.Firstly,flexible-joint robotic manipulator CPS are described by the T-S fuzzy model,in which there may exist premise variables(PVs) not measured,or measured but influenced by the sensor attacks.If these PVs are directly used to construct the fuzzy controller,the control performance will be affected.Therefore,a fuzzy cooperative interaction observer is proposed to construct new,reliable and available PVs.And also the observers can cooperate with the auxiliary system which contains attack estimation error(AEE) information.Different from existing results,the proposed observer makes full use of the AEE information by the cooperative interaction structure,resulting in improvement of reconstruction accuracy of the attack signal.Furthermore,a class of secure control scheme with the attack compensation structure is given such that the influence of sensor and actuator attacks on flexible-joint robotic manipulator CPS performances is removed.The effectiveness of the proposed secure control scheme is verified by simulation results.

关 键 词：柔性关节机械臂 信息物理融合系统 网络攻击 T-S模糊模型 协同交互型观测器 安全控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]