DoS攻击下基于切换Luenberger观测器的冗余控制

研究了DoS攻击下网络化控制系统基于观测器的控制器设计问题.首先,提出了一种具有多个增益的切换Luenberger观测器,实现了无DoS攻击时系统状态的间歇性估计.根据获得的估计值,控制器同时计算了系统当前以及未来一段时域的控制信号,并将其封装在一个数据包中发送给执行器,保证了系统在有无DoS攻击时都有合适的控制输入更新.其次,利用构造的切换系统对DoS攻击下观测器与控制器的不同动态进行了统一的建模,基于多Lyapunov函数方法推导了任意切换律下系统指数稳定的充分条件,并给出了相应的观测器与控制器设计方法.最后,通过网络化倒立摆系统的实验验证了所提方法的有效性.

Switching-Luenberger-observer-based redundant control under DoS attacks

A observer-based redundant control method is proposed for networked control systems under denial-ofservice(DoS)attacks.First,a switching Luenberger observer with multiple gains is designed such that the intermittent state estimation is achieved in the absence of DoS attacks.Based on the obtained state estimates,the current control input along with some future control inputs are calculated and sent to the actuators using a packet simultaneously,and then the actuators always have appropriate control inputs to be applied.In this case,the dynamics of the observer and controller under DoS attacks is modeled by a constructed switching system model.By resorting to the multiple Lyapunov functions,the exponentially stable conditions of the constructed switching system model are derived under arbitrary switching laws.Moreover,the corresponding observer and controller are also designed.Finally,an experiment on networked inverted pendulum system is used to show the effectiveness of the proposed method.