FDI 攻击下基于扩展状态观测器的轮式移动机器人有限时间轨迹跟踪控制

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2024-09-28 DOI:10.1016/j.jfranklin.2024.107304

Zhenhan Ye , Zehua Ye , Dan Zhang , Jun Cheng

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引用次数: 0

摘要

本文研究了轮式移动机器人（WMR）在虚假数据注入（FDI）攻击下的轨迹跟踪控制。首先，为了减轻 FDI 攻击的影响，构建了一个有限时间扩展状态观测器（FTESO）。然后，通过级联控制方法将跟踪控制系统的误差动态分成两个子系统，并为这两个子系统设计了一对一的有限时间控制律。其次，提出了一个新的稳定性条件，以确保跟踪误差系统是有限时间全局均匀终极有界（GUUB）的，并且跟踪误差能收敛到一个紧凑集。最后，通过仿真研究验证了所提出的控制方法是有效的。

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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Extended state observer-based finite-time trajectory tracking control for wheeled mobile robots under FDI attacks

The trajectory tracking control of wheeled mobile robots (WMRs) under False Data Injection (FDI) attacks is investigated in this paper. First, to mitigate the impact of FDI attacks, a finite-time extended state observer (FTESO) is constructed. The error dynamic of the tracking control system is then split up into two subsystems via the cascaded control approach, and a one-to-one finite-time control law is designed for both subsystems. Second, a new stability condition is proposed to ensure that the tracking error system is finite-time globally uniform ultimate bounded (GUUB) and the tracking error can converge into a compact set. Finally, it is validated that the proposed control method is effective through simulation studies.

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来源期刊

Journal of The Franklin Institute-engineering and Applied Mathematics 工程技术-工程：电子与电气

CiteScore

7.30

自引率

14.60%

发文量

586

审稿时长

6.9 months

期刊介绍： The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.