{"title":"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","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":null,"pages":null},"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":"{\"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\":null,\"pages\":null},\"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}","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}
Mode-dependent switching control of bilateral teleoperation against random denial-of-service attacks
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.