Event-based robust stabilization of uncertain networked control systems under quantization and denial-of-service attacks

Event-triggered predictive control for cooperation-competition multi-agent systems under DoS attacks

This paper concerns the bipartite consensus problem of multi-agent systems(MASs) with competitive- cooperative network topology under denial-of-service (DoS) attacks. Firstly, this work extensively analyzes the competitive phenomena that may exist in the information interchange of agents in contrast to the single cooperative behavior between agents. Based on this, some necessary conditions are provided for the system to attain the bipartite consensus. In addition, the event-triggered mechanism (ETM) effectively lowers unnecessary information sharing between agents and eliminates Zeno behavior. Furthermore, the predictive method provides the system with exceptional resistance against common energy-limited DoS attacks and the ability to compensate for information loss caused by DoS attacks. Finally, a numerical simulation proves that the proposed approach is feasible.

Adaptive tracking control of two-wheeled mobile robots under Denial-of-Service attacks

This paper focuses on the tracking control problem for the two-wheeled mobile robot (TWMR) with unknown parameters. The robot collects its own states from the networked positioning system, which is subject to Denial-of-Service (DoS) attacks. To handle the uncertainties in the robot model and mitigate the attack effects on the system performance, parameter estimators with the projection operator technique are introduced. Then, an adaptive tracking controller is designed by adopting the backstepping technique. Correspondingly, a stability condition is derived, which guarantees that all the closed-loop signals are semi-globally uniformly bounded and tracking errors can converge to an adjustable compact set. The stability condition also reveals the relationships among the attack durations, design parameters and tracking errors, which can be utilized to guide the choice of design parameters. Experimental results are provided to validate the effectiveness of the proposed control scheme.

Nonfragile power and frequency control in islanded microgrids under abnormal asynchronous stochastic cyber attacks

In this paper, we focus on the real power sharing and frequency regulation of distributed generators in islanded microgrids with abnormal asynchronous stochastic cyber attacks, which is of great significance to the information security and stable operation of microgrids. Firstly, considering the possible cyber attacks in the communication network, a distributed non-fragile controller with coupled memory delay is proposed according to the nonperiodic sampled-data control. Then, the construction of delay-dependent two-sided looped-functional makes the Lyapunov-Krasovskii functional contain more delay and sampling information and relaxes constraints on free matrices. In addition, based on the enhanced integral inequality technique and the linear convex combination method, a sampling-based consensus protocol is presented to solve the issues of real power sharing and frequency regulation in the islanded microgrids. Finally, to verify the effectiveness and feasibility of the designed control strategy, a modified IEEE 34-bus test system is used for the experiment.

Secure control design for nonlinear cyber-physical systems under DoS, replay, and deception cyber-attacks with multiple transmission channels

This paper introduces the state-/output-feedback control for multi-channel nonlinear cyber-physical systems (CPSs). Many cyber-attacks are considered such as Denial-of-Service (DoS), replay and deception attacks. The deception cyber-attacks can be treated as measurement additive and multiplicative uncertainties. Both time-varying state-dependent and state-independent sensor additive attacks are considered. As DoS attack makes the CPS states unavailable, the standard modeling​ and control methods cannot be applied directly. Alternatively, as attackers in the replay attack re-transmit previous data and prevent the transmission of the more recent data, a delayed model is generated. To deal with these problems, a new observer at the controller side is proposed. It is used to perform two main tasks. The first is to estimate all system states at every time instant. The second is to exclude some unsecured transmitting channels from affecting the system response. Therefore, all attacks in these channels will have no effect on the system response. Using the estimated states, an anti-cyber-attacks state-feedback controller is investigated. Meanwhile, it is verified that the suggested approach certifies the convergence of all the CPSs states under different cyber-attacks. The effectiveness of the proposed secure control approach against different kinds of cyber-attacks is confirmed through two examples with simulation results.

Switching cluster synchronization control of networked harmonic oscillators subject to denial-of-service attacks

This paper is concerned with the average cluster synchronization control problem of networked harmonic oscillators under denial-of-service (DoS) attacks. Different from some existing DoS attack models that often necessitate specific statistical characteristics, only the worse-case duration bound of the DoS attacks is required during the control design procedure, which represents the least a priori knowledge of realistic DoS attacks. Then, a novel switching cluster synchronization control scheme, which leverages a position-based feedback control protocol under a non-small delay and a position velocity-based feedback control protocol with a small delay, is developed such that the above two control protocols are selected based on the occurrence of the DoS attacks. Via formulating the resultant synchronization system as a switched time-delay system, a complete-type Lyapunov-Krasovskii functional (LKF) method is further proposed to establish sufficient controller design criteria associated with the duration and frequency of attacks for both synchronous and asynchronous DoS attacks among clusters. Furthermore, an iterative algorithm is designed to calculate the control gain matrices by solving a set of nonlinear matrix inequalities (NLMIs). Finally, a multi-vehicle cooperative control system is presented to demonstrate the validity of the proposed control scheme.

Event-Triggered Output Feedback Synchronization of Master-Slave Neural Networks Under Deception Attacks

The problem of event-triggered synchronization of master-slave neural networks is investigated in this article. It is assumed that both communication channels from the sensor to controller and from controller to actuator are subject to stochastic deception attacks modeled by two independent Markov processes. Two discrete event-triggered mechanisms are introduced for both channels to reduce the number of data transmission through the communication channels. To comply with practical point of view, static output feedback is utilized. By employing the Lyapunov-Krasovskii functional method, some sufficient conditions on the synchronization of master-slave neural networks are derived in terms of linear matrix inequalities, which make it easy to design suitable output feedback controllers. Finally, a numerical example is presented to show the effectiveness of the proposed method.

Co-Design of Dynamic Event-Triggered Communication Scheme and Resilient Observer-Based Control Under Aperiodic DoS Attacks

This article is concerned with the problem of observer-based dynamic event-triggered control for a networked control system (NCS) under a class of power-constrained denial-of-service (DoS) attacks that aim at impeding the network communication from time to time. First, by carefully modeling such DoS attacks as aperiodic pulse-width-modulated (PWM) jamming signals, a switching observer, adapting to the DoS attacks, is delicately constructed to deal with the unavailability of full-state information. Second, to economize the limited bandwidth resources, a dynamic event-triggered communication scheme is designed under the aperiodic DoS jamming attacks, whose duration and frequency are assumed to be restricted. Third, a switching system model with artificial state delay is formulated, which characterizes the effects of the aperiodic DoS attacks and event-triggered communication scheme in a unified framework. Then, the asymptotic stability analysis and controller/observer synthesis conditions of the resulting switching system are obtained by using a piecewise Lyapunov-Krasovskii functional approach. Furthermore, a co-design method of the dynamic triggering parameters, controller, and observer gains is presented. Finally, an example is employed to verify the effectiveness of the obtained results.

Reprint of: Observer-based output feedback H∞ control for cyber-physical systems under randomly occurring packet dropout and periodic DoS attacks

This paper investigates the observer-based output feedback control problem for cyber-physical systems against randomly occurring packet dropout and periodic Denial-of-Service (DoS) attacks. Two independent Bernoulli distribution are employed to model the randomly occurring packet dropout and periodic DoS attacks such that the considered system can be viewed as a stochastic system. Then, by stochastic analysis method, it proves that the closed-loop systems are still stochastically stable and satisfy a specified H_∞ performance. The relationship between the disturbance rejection capacity and the success rate of a DoS attacker is also analyzed. Moreover, some novel inequalities and auxiliary matrices are adopted to remove the restrictive conditions on input matrix B and the diagonal structure of Lyapunov function. Finally, three examples are utilized to show the applicability of the proposed method.

Observer-based event-triggered output feedback control for fractional-order cyber-physical systems subject to stochastic network attacks

This paper is engaged in investigating the observer-based event-triggered output feedback control issue for fractional-order cyber-physical systems with stochastic network attacks, where the order scale of the fractional derivative used is 0<α<1. An event-triggered scheme (ETS) with output-independent threshold is proposed to renew the observer input so as to reduce the redundant data communications. Considering the effects of the ETS and network attacks, a novel closed-loop fractional-order control system model is constructed. By making use of fractional-order Lyapunov indirect approach, sufficient conditions that can insure the global stochastic asymptotic stability of the established closed-loop control system are obtained. Moreover, according to the singular value decomposition (SVD) of matrix, the co-design of the gains of the desired observer and controller is addressed by finding the solution of the linear matrix inequalities (LMIs). Finally, a numerical example and a diesel engine control system are provided to validate the feasibility of the adopted observer-based control method.

State estimation for cyber-physical systems with limited communication resources, sensor saturation and denial-of-service attacks

This paper addresses the issue of the state estimation for cyber-physical systems (CPSs) with limited communication resources, sensor saturation and denial-of-service (DoS) attacks. In order to conveniently handle nonlinear term in CPSs, a Takagi-Sugeno (T-S) fuzzy model is borrowed to approximate it. The event-triggered scheme and quantization mechanism are introduced to relieve the effects brought by limited communication resources. By taking the influence of sensor saturation and DoS attacks into account, a novel mathematical model of state estimation for CPSs is constructed with limited communication resources. By using the Lyapunov stability theory, the sufficient conditions, which can ensure the system exponentially stable, are derived. Moreover, the explicit expressions of the event-based estimator gains are obtained in the form of linear matrix inequalities (LMIs). At last, a simulated example is provided for illustrating the effectiveness of the proposed method.

Resilient Control Design Based on a Sampled-Data Model for a Class of Networked Control Systems Under Denial-of-Service Attacks

This article is concerned with designing resilient state feedback controllers for a class of networked control systems under denial-of-service (DoS) attacks. The sensor samples system states periodically. The DoS attacks usually prevent those sampled signals from being transmitted through a communication network. A logic processor embedded in the controller is introduced to not only receive sampled signals but also capture information on the duration time of each DoS attack. Note that the duration time of DoS attacks is usually both lower and upper bounded. Then the closed-loop system is modeled as an aperiodic sampled-data system closely related to both lower and upper bounds of duration time of DoS attacks. By introducing a novel looped functional, which caters for the N -order canonical Bessel-Legendre inequalities, some N -dependent stability criteria are presented for the resultant closed-loop system. It is worth pointing out that a number of identity formulas are uncovered, which enable us to apply the notable free-weighting matrix approach to derive less conservative stability criteria. A linear-matrix-inequality-based criterion is provided to design stabilizing state-feedback controllers against DoS attacks. A satellite control system is given to demonstrate the effectiveness of the proposed method.

Resilient Event-Triggered Control for LFC-VSG Scheme of Uncertain Discrete-Time Power System under DoS Attacks

This paper is concerned with resilient triggered control problem for load frequency control and virtual synchronous generation (LFC-VSG) scheme of discrete-time multi-area power system with parameter uncertainty, governor dead band (GDB), and low inertia under time delay and aperiodic Denial-of-Service (DoS) attacks. To reduce communication load of sleep intervals, event triggered mechanism (ETM) is introduced. A discrete-time switched delay system model is established to describe the dynamic of multi-area power system under resilient static output feedback control law. Combining piecewise Lyapunov–Krasovskii functional (LKF) method with switched system theory, a criterion is derived that the tolerant bound of attack duration and attack frequency can be estimated explicitly. Meanwhile, some sufficient conditions are obtained which can preserve weighted H ∞ performance. By using linear matrix inequalities (LMIs) techniques, a co-design method is proposed to solve the control gains and trigger parameters. A simulation example of a two-area power system was carried out to verify the efficiency of our proposed resilient event based LFC-VSG scheme.

Resilient Event-Triggered Controller Synthesis of Networked Control Systems Under Periodic DoS Jamming Attacks

In this paper, the event-based controller synthesis problem for networked control systems under the resilient event-triggering communication scheme (RETCS) and periodic denial-of-service (DoS) jamming attacks is studied. First, a new periodic RETCS is designed under the assumption that the DoS attacks imposed by power-constrained pulsewidth-modulated jammers are partially identified, that is, the period of the jammer and a uniform lower bound on the jammer's sleeping periods are known. Second, a new state error-dependent switched system model is constructed, including the impacts of the RETCS and DoS attacks. According to this new model, the exponential stability criteria are derived by using the piecewise Lyapunov functional. In these criteria, the relationship among DoS parameters, the triggering parameters, the sampling period, and the decay rate is quantitatively characterized. Then, a criterion is also proposed to obtain the explicit expressions of the triggering parameter and event-based state feedback controller gain simultaneously. Finally, the obtained theoretical results are verified by a satellite yaw-angles control system.

Observer-based output feedback H∞ control for cyber-physical systems under randomly occurring packet dropout and periodic DoS attacks

This paper investigates the observer-based output feedback control problem for cyber-physical systems against randomly occurring packet dropout and periodic Denial-of-Service (DoS) attacks. Two independent Bernoulli distribution are employed to model the randomly occurring packet dropout and periodic DoS attacks such that the considered system can be viewed as a stochastic system. Then, by stochastic analysis method, it proves that the closed-loop systems are still stochastically stable and satisfy a specified H_∞ performance. The relationship between the disturbance rejection capacity and the success rate of a DoS attacker is also analyzed. Moreover, some novel inequalities and auxiliary matrices are adopted to remove the restrictive conditions on input matrix B and the diagonal structure of Lyapunov function. Finally, three examples are utilized to show the applicability of the proposed method.