| 面向信息物理系统的食品拣取机器人状态估计与攻击检测 |
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| 引用本文： | 董,旭.面向信息物理系统的食品拣取机器人状态估计与攻击检测[J].食品与机械,2023,39(7):85-92. |
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| 作者姓名： | 董 旭 |
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| 作者单位： | 北华航天工业学院，河北 廊坊 065000 |
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| 基金项目： | 河北省省级科技计划资助（编号：18211840） |
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| 摘 要： | 目的:应对食品拣取机器人信息物理系统受网络攻击的情况。方法:基于区间观测器提出了一种用于食品拣取机器人系统状态估计与攻击检测的方法。首先建立位于信息物理系统中的食品拣取机器人数字化模型，应用拉格朗日方法确立机械臂动力学方程并转换为状态空间模型，而后依据反馈控制策略构建系统网络攻击模型。考虑系统中存在的非线性特征和噪声，应用广义系统理论将传感器攻击转换为系统状态，设计区间观测器为攻击检测器，并验证其误差系统的稳定性。结果:通过给定参数进行仿真，观测器输出贴近给定真实信号，所提方法正确且有效。由区间估计结果可以重构传感器攻击并检测出执行器攻击。结论:试验所提方法可以实现信息物理系统环境中的食品拣取机器人状态估计与执行器攻击检测。
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| 关 键 词： | 信息物理系统 食品拣取机器人 区间观测器 状态估计 执行器攻击检测 |
| 收稿时间： | 2022/11/12 0:00:00 |
State estimation and attack detection of food picking robot oriented to cyber-physical system |
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| DONG Xu.State estimation and attack detection of food picking robot oriented to cyber-physical system[J].Food and Machinery,2023,39(7):85-92. |
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| Authors: | DONG Xu |
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| Affiliation: | North China Institute of Aerospace Engineering, Langfang, Hebei 065000, China |
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| Abstract: | Objective: In order to deal with the impact of cyber attack on the cyber-physical system of food picking robot. Methods: A method for states estimation and attacks detection of food picking robot system based on interval observer was proposed. Firstly, the digital model of the food picking robot located in the cyber-physical system was established, using Lagrange method to establish the dynamic equation of the manipulator and convert it into the state-space model, the network attacks model was constructed according to the feedback control strategy. Considering the nonlinear characteristics and noiseand applying the generalized system theory was applied to transform sensor attack into the system state, and the interval observer was designed as the attack detector, and the stability of errors system was proved. Results: The simulation results showed that observer output was close to the given real signal. The proposed method was correct and effective. The sensor attack can be reconstructed and the actuator attack can be detected from interval estimation results. Conclusion: The proposed method can realize states estimation and actuator attacks detection of food picking robot in cyber-physical system environment. |
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