基于利亚普诺夫矩阵的无人驾驶船舶适应性弹性控制,具有传感器和推进器攻击的无人驾驶船舶
Xin Yang1, Li-Ying Hao2, Yang Xiao3
1College of Navigation, Dalian Maritime University, Dalian 116026, People's Republic of China.
ISA transactions
|August 14, 2024
概括
本研究介绍了无人驾驶船舶 (UMV) 的弹性控制器,该控制器可以适应传感器和依赖输入的推进器攻击,确保尽管时间延迟,但稳定性. 模拟证实了控制器的控制器.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 海洋工程 海洋工程
- 自主系统的网络安全
背景情况:
- 无人驾驶海上车辆 (UMV) 由于网络攻击和时间延迟而面临重大控制挑战.
- 现有的控制策略往往不考虑依赖输入的推进器攻击,这些攻击与依赖状态的攻击不同.
- 强大的控制对于保持UMV的运营完整性和任务成功至关重要.
研究的目的:
- 为UMVs设计一个基于Lyapunov矩阵的适应性弹性控制器.
- 为应对依赖状态的传感器攻击,依赖输入的推进器攻击和时间延迟所带来的挑战.
- 确保在对抗条件下状态错误的非对称收.
主要方法:
- 开发一种适应机制来估计攻击因素.
- 引入一个完整类型的Lyapunov-Krasovskii函数 (LKF),包含全面的时间延迟信息.
- 应用线性矩阵不等式 (LMI) 和詹森不等式来导出控制器存在条件.
主要成果:
- 拟议的控制器保证了UMV状态错误的不对称趋同到零.
- 建立了一个自适应的H-infinity性能指数,其边界为 γ0.0.
- 模拟结果验证了设计的弹性控制策略的有效性.
结论:
- 基于Lyapunov矩阵的自适应弹性控制器有效地减轻了复杂攻击和时间延迟对UMV的影响.
- 该方法为提高自主海洋系统的安全性和可靠性提供了一个强大的框架.
- 该研究展示了一种新的方法,用于处理UMV控制中的依赖输入的推进器攻击.
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