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Adaptive event-triggered security control for networked teleoperation systems.

Hai Yang1, Xia Liu1, Hui Wen1

  • 1School of Electrical Engineering and Electronic Information, Xihua University, Chengdu 610039, China.

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|August 26, 2024
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Summary
This summary is machine-generated.

This study introduces an adaptive event-triggered security control for robotic teleoperation, enhancing network resource efficiency and ensuring system stability against false data injection attacks and time-varying delays.

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Network Security

Background:

  • Networked robotic teleoperation systems face challenges from time-varying delays and false data injection (FDI) attacks.
  • Ensuring system stability and performance under these adverse conditions is critical for reliable operation.

Purpose of the Study:

  • To propose an adaptive event-triggered security control method for networked robotic teleoperation systems.
  • To enhance robustness against time-varying delays and FDI attacks while optimizing network resource utilization.

Main Methods:

  • An adaptive event-triggered scheme using master and slave robot position/velocity signals with adaptive thresholds.
  • Utilizing triggered signals and feedback error to detect FDI attacks.
  • Designing a switching controller that adapts control strategies based on attack detection.

Main Results:

  • The proposed method adaptively adjusts triggering frequency, reducing data transmission and saving network resources.
  • Stability of the system and convergence of tracking errors are proven using Lyapunov functions.
  • Practical experiments validated the effectiveness against time-varying delays and FDI attacks.

Conclusions:

  • The developed method ensures the stability and performance of networked teleoperation systems under challenging conditions.
  • It effectively conserves network resources through adaptive data transmission.
  • The approach provides a robust solution for secure and reliable robotic teleoperation.