Secure and Privacy-Preserving Formation Control for Networked Marine Surface Vehicles With Sampled-Data Interactions

IF 7.5 2区计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC

IEEE Transactions on Vehicular Technology Pub Date : 2021-12-09 DOI:10.1109/TVT.2021.3133902

Chang-Duo Liang;Ming-Feng Ge;Jing-Zhe Xu;Zhi-Wei Liu;Feng Liu

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引用次数: 9

Abstract

This paper proposes a cyber-physical framework consisting of the secure and privacy-preserving distributed impulsive-based estimator (DIE) algorithm and the local nonlinear control (LNC) algorithm to solve the cooperative formation tracking problem of networked marine surface vehicles (NMSVs) with sampled-data interactions and external disturbances. In the cyber layer, a secure and privacy-preserving information exchange scheme is proposed based on the Paillier cryptosystem such that the states of the virtual leader can be estimated in a secure and privacy-preserving way. In the physical layer, the LNC algorithm is designed with the utilization of the estimators in the cyber layer to achieve the formation tracking for the NMSVs with disturbance rejection ability. Sufficient conditions for guaranteeing the convergence and the stability of the closed-loop system are derived based on systematic analysis. Finally, numerical simulations are performed on Cyber-Ships II to verify the effectiveness of the main results.

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具有采样数据交互的网络海洋水面车辆的安全和隐私保护编队控制

本文提出了一种由安全和隐私保护的分布式脉冲估计器(DIE)算法和局部非线性控制(LNC)算法组成的网络物理框架，用于解决具有采样数据交互和外部干扰的网络化海洋水面车辆(NMSVs)的协同编队跟踪问题。在网络层，提出了一种基于Paillier密码系统的安全、保护隐私的信息交换方案，以安全、保护隐私的方式估计虚拟领导者的状态。在物理层，利用网络层的估计器设计LNC算法，实现对具有抗扰能力的nmsv的编队跟踪。在系统分析的基础上，导出了保证闭环系统收敛性和稳定性的充分条件。最后，在Cyber-Ships II上进行了数值仿真，验证了主要结果的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Vehicular Technology 工程技术-电信学

CiteScore

6.00

自引率

8.80%

发文量

1245

审稿时长

6.3 months

期刊介绍： The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.