Yang Hai, Liu Xia, Wen Hui
School of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China.
Rev Sci Instrum. 2024 Aug 1;95(8). doi: 10.1063/5.0215440.
An adaptive event-triggered security control method is proposed for networked robotic teleoperation systems subject to time-varying delays and false data injection (FDI) attacks. An event-triggered scheme is designed via the position and velocity signals of the master and slave robots, where the triggering thresholds can change adaptively with the system states. The position and velocity triggered signals and the feedback error between the operator and the environment forces are utilized to detect whether the transmitted signals suffered from FDI attacks. Then, a switching controller is designed, which is able to adopt the corresponding control strategy according to the corresponding detection result. The stability of the system and the convergence of the tracking errors are proved through Lyapunov functions, and the proposed method is validated through practical experiments. The proposed method is able to adaptively adjust the triggering frequency and effectively reduce the transmitted data, thus saving the network resources. Meanwhile, it can ensure the stability of networked teleoperation systems under time-varying delays and FDI attacks, as well as the position and force tracking performance.
针对存在时变延迟和虚假数据注入（FDI）攻击的网络化机器人遥操作系统，提出了一种自适应事件触发安全控制方法。通过主从机器人的位置和速度信号设计了一种事件触发机制，其中触发阈值可随系统状态自适应变化。利用位置和速度触发信号以及操作员与环境力之间的反馈误差来检测传输信号是否遭受FDI攻击。然后，设计了一种切换控制器，它能够根据相应的检测结果采用相应的控制策略。通过李雅普诺夫函数证明了系统的稳定性和跟踪误差的收敛性，并通过实际实验验证了所提方法。所提方法能够自适应调整触发频率并有效减少传输数据，从而节省网络资源。同时，它可以确保网络化遥操作系统在时变延迟和FDI攻击下的稳定性以及位置和力跟踪性能。
