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。
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.
[1] Kebria P M, Abdi H, Dalvand M M, et al. Control methods for Internet-based teleoperation systems:a review[J]. IEEE Transactions on Human-Machine Systems, 2019, 49(1):32-46.
[2] De Lima M V, Mozelli L A, Alves N A, et al. A simple algebraic criterion for stability of bilateral teleoperation systems under time-varying delays[J]. Mechanical Systems and Signal Processing, 2020, 137:106217.
[3] Islam S, Liu P X, El Saddik A. New stability and tracking criteria for a class of bilateral teleoperation systems[J]. Information Sciences, 2014, 278:868-882.
[4] Nuño E, Ortega R, Basañez L. An adaptive controller for nonlinear teleoperators[J]. Automatica, 2010, 46(1):155-159.
[5] Kebria P M, Khosravi A, Nahavandi S, et al. Robust adaptive control scheme for teleoperation systems with delay and uncertainties[J]. IEEE Transactions on Cybernetics, 2020, 50(7):3243-3253.
[6] Zhao L, Yang G H. Adaptive fault-tolerant control for nonlinear multi-agent systems with DoS attacks[J]. Information Sciences, 2020, 526:39-53.
[7] Xu Y, Fang M, Shi P, et al. Event-based secure consensus of mutiagent systems against DoS attacks[J]. IEEE Transactions on Cybernetics, 2020, 50(8):3468-3476.
[8] Xu Y, Fang M, Wu Z G, et al. Input-based event-triggering consensus of multiagent systems under denial-of-service attacks[J]. IEEE Transactions on Systems, Man, and Cybernetics:Systems, 2020, 50(4):1455-1464.
[9] Dong T, Gong Y L. Leader-following secure consensus for second-order multi-agent systems with nonlinear dynamics and event-triggered control strategy under DoS attack[J]. Neurocomputing, 2020, 416:95-102.
[10] Zhang Z H, Liu D, Deng C, et al. A dynamic event-triggered resilient control approach to cyber-physical systems under asynchronous DoS attacks[J]. Information Sciences, 2020, 519:260-272.
[11] Sun Y C, Yang G H. Event-triggered resilient control for cyber-physical systems under asynchronous DoS attacks[J]. Information Sciences, 2018, 465:340-352.
[12] Tang Y, Zhang D D, Ho D W C, et al. Event-based tracking control of mobile robot with denial-of-service attacks[J]. IEEE Transactions on Systems, Man, and Cybernetics:Systems, 2020, 50(9):3300-3310.
[13] Shisheh F H, Martínez S. On event-triggered control of linear systems under periodic denialof-service jamming attacks[C]//2012 IEEE Conference on Decision and Control, 2012:2551-2556.
[14] Feng Z, Hu G Q. Distributed secure average consensus for linear multi-agent systems under DoS attacks[C]//2017 American Control Conference, 2017:2261-2266.
[15] Sun X W, Nambiar R, Melhorn M, et al. DoS-resilient multi-robot temporal logic motion planning[C]//2019 International Conference on Robotics and Automation, 2019:6051-6057.
[16] Yang Y, Li Y F, Yue D. Event-trigger-based consensus secure control of linear multi-agent systems under DoS attacks over multiple transmission channels[J]. Science China Information Sciences, 2020, 63(5):1-14.
[17] 张霞.时延力反馈遥操作系统的跟踪性能研究[D].成都:电子科技大学, 2017.
[18] Liu Q C, Ye M B, Qin J H, et al. Event-based leader-follower consensus for multiple EulerLagrange systems with parametric uncertainties[C]//2016 IEEE Conference on Decision and Control, 2016:2240-2246.
[19] Liu Q C, Ye M B, Qin J H, et al. Event-triggered algorithms for leader-follower consensus of networked Euler-Lagrange agents[J]. IEEE Transactions on Systems, Man, and Cybernetics:Systems, 2019, 49(7):1435-1447.
[20] Kebria P M, Khosravi A, Nahavandi S, et al. Robust adaptive control scheme for teleoperation systems with delay and uncertainties[J]. IEEE Transactions on Cybernetics, 2020, 50(7):3243-3253.
