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Fully Actuated System Approach-Based Tracking Control for High-Order Nonlinear System Under False Data Injection and

Wei Sun, Xueqi Wu, Shun-Feng Su

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    |March 12, 2026
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    Summary
    This summary is machine-generated.

    This study addresses tracking control for nonlinear systems facing false data injection (FDI) and malicious attacks. A novel method ensures tracking errors converge within a set time, even with corrupted data.

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    Area of Science:

    • Control Theory
    • Nonlinear Systems
    • Cybersecurity

    Background:

    • High-order uncertain nonlinear systems are susceptible to cyberattacks like false data injection (FDI) and malicious attacks.
    • State corruption due to attacks prevents direct use of true state information for controller design.

    Purpose of the Study:

    • To investigate and solve the tracking control problem for high-order uncertain nonlinear systems under FDI and malicious attacks.
    • To develop a robust control strategy that guarantees performance despite cyber threats.

    Main Methods:

    • Utilizing fully actuated system (FAS) theory.
    • Applying coordinate transformation on the attacked state to mitigate unknown FDI attacks.
    • Proposing a new lemma involving a piecewise smooth function approaching saturation to handle control gain uncertainty and input saturation.

    Main Results:

    • Tracking errors are proven to converge within a prescribed time.
    • All signals within the closed-loop system are demonstrated to remain bounded.
    • The proposed method's effectiveness is validated through numerical simulations and a single-link robotic manipulator case study.

    Conclusions:

    • The developed control strategy effectively addresses tracking control challenges in nonlinear systems under sophisticated cyberattacks.
    • The method ensures prescribed-time convergence of tracking errors and boundedness of system signals, offering robust performance.