DoS攻击下基于切换Luenberger观测器的冗余控制
Switching-Luenberger-observer-based redundant control under DoS attacks
摘要点击 64  全文点击 64  投稿时间:2019-05-07  修订日期:2019-07-21
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DOI编号  10.7641/CTA.2019.90326
  2020,37(4):758-766
中文关键词  拒绝服务攻击  切换系统  Luenberger 观测器  输出反馈;网络化控制
英文关键词  Denial-of-service attacks  Switching system  Luenberger observer  Output feedback  Networked Control
基金项目  国家自然科学基金
学科分类代码  
作者单位E-mail
赖绍禹 浙江工业大学 bchen@aliyun.com 
陈博 浙江工业大学 bchen@aliyun.com 
俞立 浙江工业大学  
中文摘要
      本文研究了DoS 攻击下网络化控制系统的观测器与控制器的联合设计问题. 首先, 提出了一种具有多个增 益的切换Luenberger 观测器设计方法, 实现了DoS 攻击下系统状态的间歇性估计. 通过观测器给出的在没有DoS 攻 击时的状态估计, 控制器计算了系统当前以及未来一段时域内的控制信号, 并将其封装在一个数据包中同时发送给 执行器, 从而保证了系统在有无DoS 攻击的情形下都有合适的控制输入. 通过引入一个同时包含观测器与控制器 状态的增广变量, 利用切换系统对不同连续时间DoS 攻击下观测器与控制器的动态特性进行了统一的建模, 并基于 多Lyapunov 函数方法推导了任意切换律下保证系统指数稳定的充分条件, 同时给出了观测器与控制器的联合设计 方法. 最后, 通过网络化控制的倒立摆系统的实验验证了所提方法的有效性.
英文摘要
      This paper is concerned with the joint design problem of the observer and controller under DoS attacks. First, a switching Luenberger observer with different gains is proposed such that the intermittent state estimate is achieved under DoS attacks. Based on the estimated states at the absence of DoS attacks, the current control input along with some future control inputs are calculated and sent to the actuators using a packet simultaneously such that the actuators always have appropriate inputs to be applied. By introducing an augmented state variable, the dynamics of the observer and controller under DoS attacks is modeled by the proposed switching system model. Then, by resorting to multiple Lyapunov functions method, some suf?cient conditions are derived such that the switching system is exponentially stable under arbitrary switching laws. Meanwhile, the joint design method of the observer and controller is derived. Finally, an experiment on networked inverted pendulum system is conducted to illustrate the effectiveness of the proposed method.