{"title":"Mode-dependent switching control of bilateral teleoperation against random denial-of-service attacks","authors":"Lingyan Hu, Kun Wang, Dongxia Hu, Yiming Wang","doi":"10.1049/cps2.12015","DOIUrl":null,"url":null,"abstract":"<p>As communication networks are implemented for information exchange between the master and slave sides of bilateral teleoperation systems, they are exposed to cyber-attack threats. This paper aims to analyse the performance of bilateral teleoperation systems in the presence of random denial-of-service (DoS) attacks and constant transmission delays and propose a mode-dependent switching controller to mitigate the influence of DoS attacks. The characteristics of DoS attacks and networks are thoroughly incorporated in the design; also considered is the case of both communication directions behaving independently. Specifically, the model of a teleoperation system under a DoS attack is integrated as a stochastic jump system. A mode-dependent control approach is proposed for a teleoperation system to mitigate the influence of random DoS attacks. In case studies, vulnerability analysis and time-domain simulation results show that teleoperation system performance can be degraded under continuous random DoS attacks. When the proposed mode-based switching controllers are installed, the trajectory tracking performance and authenticity of interaction force feedback are significantly improved during the attacking period.</p>","PeriodicalId":36881,"journal":{"name":"IET Cyber-Physical Systems: Theory and Applications","volume":"7 1","pages":"16-29"},"PeriodicalIF":1.7000,"publicationDate":"2021-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cps2.12015","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IET Cyber-Physical Systems: Theory and Applications","FirstCategoryId":"1085","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1049/cps2.12015","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"COMPUTER SCIENCE, INFORMATION SYSTEMS","Score":null,"Total":0}
引用次数: 1
Abstract
As communication networks are implemented for information exchange between the master and slave sides of bilateral teleoperation systems, they are exposed to cyber-attack threats. This paper aims to analyse the performance of bilateral teleoperation systems in the presence of random denial-of-service (DoS) attacks and constant transmission delays and propose a mode-dependent switching controller to mitigate the influence of DoS attacks. The characteristics of DoS attacks and networks are thoroughly incorporated in the design; also considered is the case of both communication directions behaving independently. Specifically, the model of a teleoperation system under a DoS attack is integrated as a stochastic jump system. A mode-dependent control approach is proposed for a teleoperation system to mitigate the influence of random DoS attacks. In case studies, vulnerability analysis and time-domain simulation results show that teleoperation system performance can be degraded under continuous random DoS attacks. When the proposed mode-based switching controllers are installed, the trajectory tracking performance and authenticity of interaction force feedback are significantly improved during the attacking period.