Kinematic Control of Serial Manipulators Under False Data Injection Attack

• Published in: IEEE/CAA journal of automatica sinica Vol. 10; no. 4; pp. 1009 - 1019
• Main Authors: Zhang, Yinyan, Li, Shuai
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.04.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); College of Cyber Security,Jinan University,Guangzhou,China%College of Engineering,Swansea University,Swansea,United Kingdom
• Subjects: Asymptotic methods; Communication networks; Control centres; Control methods; Control systems; Cyber-physical systems; Cybersecurity; End effectors; eyber-physical systems; false data injection attack; Industrial control; Industrial electronics; Kinematics; Manipulators; Public key cryptography; Real-time systems; Regulation; Remote control; remote kinematic control; Robot arms; Cyber-physical systems; remote kinematic control; manipulators; false data injection attack
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2023.123132

With advanced communication technologies, cyber-physical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks. While lots of benefits can be achieved with such a configuration, it also brings the concern of cyber attacks to the industrial control systems, such as networked manipulators that are widely adopted in industrial automation. For such systems, a false data injection attack on a control-center-to-manipulator (CC-M) communication channel is undesirable, and has negative effects on the manufacture quality. In this paper, we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model. Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack. The efficacy of the proposed method is validated via simulations.