| DOS攻击下不确定双边遥操作系统的控制 |
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| 引用本文： | 郑凯中,樊春霞. DOS攻击下不确定双边遥操作系统的控制[J]. 应用科学学报, 2021, 40(2): 316-327. DOI: 10.3969/j.issn.0255-8297.2022.02.013 |
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| 作者姓名： | 郑凯中 樊春霞 |
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| 作者单位： | 南京邮电大学 自动化学院 人工智能学院, 江苏 南京 210023 |
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| 基金项目： | 国家自然科学基金（No.61873326）资助 |
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| 摘 要： | 研究了存在定常时延和模型参数不确定的双边遥操作系统在受到拒绝服务攻击（denial of service，DOS）时的稳定性问题。利用位置误差结构，设计了基于事件触发的控制器，并利用自适应律估计机械臂模型中的未知参数。通过Lyapunov函数理论证明了双边遥操作系统的稳定性，并证明了基于事件触发的控制器不存在Zeno行为。通过数值仿真验证了基于事件触发的自适应控制器能够使遥操作系统在DOS攻击下保持稳定。
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| 关 键 词： | 拒绝服务攻击 遥操作系统 时延 模型不确定 |
| 收稿时间： | 2020-10-30 |
Control of Uncertain Bilateral Teleoperation System under DOS Attack |
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| ZHENG Kaizhong,FAN Chunxia. Control of Uncertain Bilateral Teleoperation System under DOS Attack[J]. Journal of Applied Sciences, 2021, 40(2): 316-327. DOI: 10.3969/j.issn.0255-8297.2022.02.013 |
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| Authors: | ZHENG Kaizhong FAN Chunxia |
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| Affiliation: | College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, Jiangsu, China |
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| Abstract: | The stability of bilateral teleoperating system with time-delay and uncertain model parameters under denial of service (DoS) attack is studied. First, based on position error structures, event-triggered controllers can be designed, and then the unknown model parameters of manipulators are estimated by using the adaptive law. The stability of bilateral teleoperating system is proved by Lyapunov function theory, and the event-triggered controller does not have Zeno behavior. Numerical simulations are carried out to demonstrate the effectiveness of the proposed adaptive event-triggered controller on a bilateral teleoperation system under DOS attacks. |
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| Keywords: | denial of service attack teleoperation system time delay model uncertainty |
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