This paper investigates secure control problems of flexible-joint robotic manipulator cyber-physical sys-tems(CPS)against cyber-attacks on sensor measurements and actuator inputs.Firstly,flexible-joint robotic manip-ulator 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 con-struct new,reliable and available PVs.And also the observers can cooperate with the auxiliary system which con-tains 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 ac-curacy 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
Key words
Flexible-joint robotic manipulator/cyber-physical systems(CPS)/cyber-attacks/T-S fuzzy model/co-operative interaction observer/secure control
维普
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