Adaptive tracking control of state-constrained uncertain nonlinear cyber–physical systems against deception attacks

A novel adaptive tracking control scheme is developed to cope with the tracking control issue for a category of state-constrained nonlinear cyber–physical systems (CPSs) with exogenous interferences, which are subject to deception attacks started in controller–actuator (C–A) channel. Different from most existing works, such type of state constraints own a distinct characteristic that they occur some time after the initial time instant of control operation. An error shifting function and a barrier Lyapunov function (BLF) with varying barrier boundaries are designed to promote the development of a novel adaptive tracking control method, which does not depend on the precise system model, and can dispose of the exogenous perturbations and deception attacks simultaneously. In particular, the developed control architecture can not only make sure that all the tracking errors get into a pre-defined small region of the equilibrium point, but also guarantee the total signals of the closed loop system conform to the corresponding state constraints in fixed time even if the initial state constraints are not satisfied. Significantly, the tracking precision degree is known beforehand and could be preseted by restructuring the control design parameters suitably. Eventually, the effectiveness and superiority of the proposed control framework are theoretically authenticated and practically illustrated through a representative application example.