Mode-dependent switching control of bilateral teleoperation against random denial-of-service attacks

IF 1.7 Q3 COMPUTER SCIENCE, INFORMATION SYSTEMS IET Cyber-Physical Systems: Theory and Applications Pub Date : 2021-05-17 DOI:10.1049/cps2.12015
Lingyan Hu, Kun Wang, Dongxia Hu, Yiming Wang
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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.

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针对随机拒绝服务攻击的双边远程操作模式依赖切换控制
由于通信网络是双边远程操作系统主从端信息交换的基础,因此极易受到网络攻击的威胁。本文旨在分析双边远程操作系统在随机拒绝服务(DoS)攻击和持续传输延迟情况下的性能,并提出一种模式相关的切换控制器来减轻DoS攻击的影响。在设计中充分考虑了DoS攻击和网络的特点;还考虑了两个通信方向独立运行的情况。具体来说,将DoS攻击下的远程操作系统模型集成为一个随机跳跃系统。针对远程操作系统中随机DoS攻击的影响,提出了一种模式依赖控制方法。实例分析和时域仿真结果表明,连续随机DoS攻击会导致远程操作系统性能下降。当安装基于模式的切换控制器时,攻击期间的轨迹跟踪性能和交互力反馈的真实性都得到了显著提高。
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来源期刊
IET Cyber-Physical Systems: Theory and Applications
IET Cyber-Physical Systems: Theory and Applications Computer Science-Computer Networks and Communications
CiteScore
5.40
自引率
6.70%
发文量
17
审稿时长
19 weeks
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