Research On The Control Of Teleoperation System Under Network Attacks

The data transmission between the master and slave robots of the teleoperation system is realized through the network.There are time-varying delays,and the network is also vulnerable to attacks.Under the conditions of time-varying delays and network attacks,the master-slave trajectory tracking performance of the teleoperation system will be significantly deteriorated or even unstable.In this paper,the teleoperation control methods under time-varying delays and two different network attacks are investigated.First,a global finite-time switching resilient controller is designed under denial-of-service(Do S)attacks;second,a global finite-time Kalman filter controller is designed under false data injection(FDI)attacks.Both controllers are able to obtain better tracking performance of master and slave robots while ensuring the global finite-time stability of the teleoperation system.Firstly,the dynamics model of the robot is established based on the Lagrange method,the mathematical model of the master-slave teleoperation system under time-varying delays and network attacks is further established to lay the theoretical foundation for the subsequent controller design.Secondly,for the teleoperation system under time-varying delays and Do S attacks,a global finite-time switching resilient controller is designed based on the global finite-time stability theory,which ensures the global finite-time stability of the system while solving the packet dropout problem caused by Do S attacks.The stability analysis of the system is carried out based on Lyapunov stability theory,and the stability condition of the system is given in the form of linear matrix inequality(LMI).Simulation and practical experiment platforms have been built to simulate and conduct practical experiments on the teleoperation system under time-varying delays and Do S attacks.The experiment results both show that the controller can better compensate for lost packets and obtain better joint position and velocity tracking performance while ensuring the global finite-time stability of the system.Finally,a global finite-time Kalman filter controller is designed by combining the Kalman filter algorithm with residual test and global finite-time control for a teleoperation system with FDI attacks and noise under time-varying delays,which realizes the slave robot to follow the motion trajectory of the master robot quickly and accurately.Based on Lyapunov stability theory,the stability analysis of the system is carried out,and the stability condition of the system is given in the form of LMI.Finally,simulation and practical experiments are carried out for the teleoperation system under time-varying delays and FDI attacks.The experiment results both show that the controller can better filter the tampered packets and achieve the optimal estimation of the system state,and obtain better tracking performance of joint position and velocity while ensuring the global finite-time stability of the system.