DoS攻击下基于<i>H</i><sub>∞</sub>的移动机器人系统鲁棒控制

季旭东; 陈友东; 魏洪兴

doi:10.13700/j.bh.1001-5965.2024.0267

DoS攻击下基于H_∞的移动机器人系统鲁棒控制

doi: 10.13700/j.bh.1001-5965.2024.0267

北京航空航天大学机械工程及自动化学院，北京 100191

基金项目:

国家重点研发计划(2022YFB4702102)

详细信息

通讯作者:
E-mail：chenyd@buaa.edu.cn

中图分类号: TP242.6；X959；V249
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出版历程
- 收稿日期: 2024-04-29
- 录用日期: 2024-07-05
- 网络出版日期: 2024-07-26
- 整期出版日期: 2026-06-30

Robust control of mobile robots based on H_∞ under DoS attack

School of Mechanical Engineering and Automation，Beihang University，Beijing 100191，China

Funds:

National Key Research and Development Program of China (2022YFB4702102)

More Information

Corresponding author: E-mail：chenyd@buaa.edu.cn

摘要

摘要:
移动机器人系统入网逐渐应用到多种场景中，然而接入网络会使系统面临网络攻击的风险，进而可能导致系统状态失稳，甚至发生功能失效的情况。针对移动机器人系统在受拒绝服务(DoS)攻击下的系统状态稳定性，提出一种基于H_∞控制的移动机器人系统的鲁棒策略。将DoS攻击对系统的影响建模为具有伯努利分布的随机丢包，采用基于状态观测器的反馈补偿对移动机器人系统受到攻击时进行鲁棒控制；利用李雅普诺夫稳定性理论，得到满足闭环系统指数均方稳定和H_∞控制的充分条件；基于此条件求解线性矩阵不等式约束，得到了观测器和控制器的增益矩阵，进而实现系统鲁棒控制，达到抗干扰的效果。通过仿真对比实验验证了所提策略能够有效降低系统受DoS攻击的影响，保证系统状态稳定性。
- 移动机器人 /
- DoS攻击 /
- H_∞控制 /
- 观测器 /
- 鲁棒控制
Abstract:
Mobile robot systems are increasingly being integrated into various scenarios. However, connecting these systems to networks exposes them to the risk of cyber-attacks, potentially leading to functional failures and system destabilization. This paper focuses on the stability of mobile robot systems under denial-of-service (DoS) attacks and proposes a robust control strategy based on H_∞ control. In the strategy, the impact of DoS attacks on the system is first modeled as random packet loss with a Bernoulli distribution. When the mobile robot system is attacked, robust control is achieved by using feedback compensation based on a state observer. Sufficient conditions for exponential mean-square stability and H_∞ control of the closed-loop system are derived using Lyapunov stability theory. n order to acquire the observer and controller gain matrices, which allow for robust system control and anti-interference effects, these criteria are used to solve linear matrix inequality constraints. Finally, through simulation experiments, it is demonstrated that the proposed strategy effectively mitigates the impact of DoS attacks on the system, ensuring the stability of the system.
- mobile robot /
- DoS attack /
- H_∞ control /
- observer /
- robust control

HTML全文

图 1 DoS攻击下的移动机器人模型

Figure 1. Mobile robot model under DoS attack

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图 2 含观测器的移动机器人受DoS攻击模型

Figure 2. DoS attack model of mobile robot with observer

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图 3 无DoS攻击下的系统状态

Figure 3. System state without DoS attack

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图 4 无DoS攻击的系统控制输入$ \boldsymbol{u}\left(k\right) $

Figure 4. System input $ \boldsymbol{u}\left(k\right) $ without DoS attack

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图 5 DoS攻击分布

Figure 5. DoS attack distribution

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图 6 DoS攻击下的系统状态

Figure 6. System state under DoS attack

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图 7 DoS攻击的系统控制输入$ {{\boldsymbol{u}}}_{{\mathrm{c}}}(k) $

Figure 7. System input $ {{\boldsymbol{u}}}_{{\mathrm{c}}}(k) $ for DoS attacks

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