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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 250-259页

作者： Ying SUN Miaomiao FU Jingyang MAO Guoliang WEI Business School University of Shanghai for Science and TechnologyShanghai200093China Shanghai Caoyang Vocational School Shanghai200333China School of Electrical and Electronic Engineering Shanghai Institute of TechnologyShanghai201418China School of Intelligent Emergency Management University of Shanghai for Science and TechnologyShanghai200093China

cyber-physical systems(CPSs)take on the characteristics of both multiple rates of information collection and processing and the dependency on information exchanges.The purpose of this paper is to develop a joint recursive filtering scheme that estimates both unknown inputs and system states for multi-rate CPSs with unknown inputs.In cyberspace,the information transmission between the local joint filter and the sensors is governed by an adaptive event-triggered strategy.Furthermore,the desired parameters of joint filters are determined by a set of algebraic matrix equations in a recursive way,and a sufficient condition verifying the boundedness of filtering error covariance is found by resorting to some algebraic operation.A state fusion estimation scheme that uses local state estimation is proposed based on the covariance intersection(CI)based fusion conception.Lastly,an illustrative example demonstrates the effectiveness of the proposed adaptive event-triggered recursive filtering algorithm.

关键词： cyber-physical systems Multi-rate Joint recursive filtering Adaptive event-triggered mechanisms Unknown inputs

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Event-triggered robust MPC of nonlinear cyber-physical systems against DoS attacks

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Science China(Information Sciences) 2022年第1期65卷 22-38页

作者： Qi SUN Jicheng CHEN Yang SHI Department of Mechanical Engineering University of Victoria

This paper proposes an event-triggered robust nonlinear model predictive control(NMPC) framework for cyber-physical systems(CPS) in the presence of denial-of-service(Do S) attacks and additive disturbances. In the framework, a new robustness constraint is introduced to the NMPC optimization problem in order to deal with additive disturbances, and a packet transmission strategy is designed for NMPC such that Do S attacks can be tackled. Then, an event-triggered mechanism, which accommodates Do S attacks occurring in the communication network, is proposed to reduce the communication cost for resource-constrained CPSs. Besides, we prove that the NMPC algorithm is recursively feasible and the closed-loop system is input-to-state practical stable under some sufficient conditions. Simulation examples and comparisons are conducted to show the effectiveness of the proposed NMPC algorithm.

关键词： cyber-physical systems nonlinear model predictive control event-triggered mechanism robust control denial-of-service attacks

Adaptive output regulation for cyber-physical systems under time-delay attacks

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Control Theory and Technology 2022年第1期20卷 20-31页

作者： Dan Jin Bo Chen Li Yu Shichao Liu College of Information Engineering Zhejiang University of TechnologyHangzhou310023ZhejiangChina Institute of cyberspace Security Zhejiang University of TechnologyHangzhou310023ZhejiangChina Department of Electronics Carleton UniversityOttawaONK1S5B6Canada

In this paper,we present an output regulation method for unknown cyber-physical systems(CPSs)under time-delay attacks in both the sensor-to-controller(S-C)channel and the controller-to-actuator(C-A)channel.The proposed approach is designed using control inputs and tracking errors which are accessible data.Reinforcement learning is leveraged to update the control gains in real time using policy or value iterations.A thorough stability analysis is conducted and it is found that the proposed controller can sustain the convergence and asymptotic stability even when two channels are attacked.Finally,comparison results with a simulated CPS verify the effectiveness of the proposed output regulation method.

关键词： Adaptive output regulation cyber-physical systems Time-delay attacks Reinforcement learning

Resilient observer-based event-triggered control for cyber-physical systems under asynchronous denial-of-service attacks

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Science China(Information Sciences) 2022年第4期65卷 182-196页

作者： Yifang ZHANG Zheng-Guang WU Zongze WU Deyuan MENG State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Automation Guangdong University of Technology Seventh Research Division Beihang University (BUAA) School of Automation Science and Electrical Engineering Beihang University (BUAA)

We develop the resilient observer-based event-triggered control update strategy in this paper.It is utilized to achieve the input-to-state stability(ISS) of cyber-physical systems(CPSs) when there is an asynchronous denial-of-service(DoS) attack, which is launched by malicious adversaries both on measurement channel and control channel in a random attack strategy. To estimate the unmeasurable states while saving the limited networked bandwidth, an H∞observer-based event-triggered control scheme is first designed to guarantee the ISS of CPSs with economic communication. Moreover, the occurrence of Zeno behavior can be eliminated by providing the existence of a lower positive bound of any two inter-event times. Then, a recursive model of asynchronous DoS attacks is introduced. A resilient control update strategy is proposed and further analyzed to derive the stability criterion of CPSs. At last, a numerical simulation example is given to demonstrate the effectiveness of the introduced control update policy.

关键词： cyber-physical systems input-to-state stability asynchronous DoS attacks $H_\infty~$ observer event-triggered control

A Triple Human-Digital Twin Architecture for cyber-physical systems

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Computer Modeling in Engineering & Sciences 2022年第6期131卷 1557-1578页

作者： Duansen Shangguan Liping Chen Chang Su Jianwan Ding Chan Liu School of Mechanical Science and Engineering Huazhong University of Science and TechnologyWuhan430070China

With the development of information and communication technology and the advent of the Internet of Things(IoT)era,cyber-physical system(CPS)is becoming the trend of products or systems.The deep integration and real-time interaction between the physical world and the virtual world expand system functions.Although there are some CPS implementation guidelines,the virtual world is still relatively abstract compared to the concrete physical world that can be touched through the IoT.Besides that,human is a non-negligible CPS endogenous interactive intelligent component.In this paper,we propose a triple human-digital twin architecture,where the physical objects and the digital twins that are the projections of the physical entities establish the cornerstone of human functioning together.And the hierarchically distributed digital twins grow dynamically with the physical entities along the lifecycle.Furthermore,the interaction and collaboration among the physical objects,the digital twins,and the humans in their respective worlds(the expected world,the interpreted world,and the physical world)integrate the full value chain of the products in anticipation of seamless synergy.Finally,we present a power management digital companion platform for the lunar probe to demonstrate the efficacy of the architecture.

关键词： cyber-physical systems digital twin human factors systems architecture collaboration

Stochastic Models to Mitigate Sparse Sensor Attacks in Continuous-Time Non-Linear cyber-physical systems

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Computers, Materials & Continua 2023年第9期76卷 3189-3218页

作者： Borja Bordel Sánchez Ramón Alcarria Tomás Robles Information Technologies Department Universidad Politécnica de MadridMadrid28031Spain Geospatial Information Department Universidad Politécnica de MadridMadrid28031Spain

cyber-physical systems are very vulnerable to sparse sensor attacks.But current protection mechanisms employ linear and deterministic models which cannot detect attacks precisely.Therefore,in this paper,we propose a new non-linear generalized model to describe cyber-physical systems.This model includes unknown multivariable discrete and continuous-time functions and different multiplicative noises to represent the evolution of physical processes and randomeffects in the physical and computationalworlds.Besides,the digitalization stage in hardware devices is represented too.Attackers and most critical sparse sensor attacks are described through a stochastic process.The reconstruction and protectionmechanisms are based on aweighted stochasticmodel.Error probability in data samples is estimated through different indicators commonly employed in non-linear dynamics(such as the Fourier transform,first-return maps,or the probability density function).A decision algorithm calculates the final reconstructed value considering the previous error probability.An experimental validation based on simulation tools and real deployments is also carried out.Both,the new technology performance and scalability are studied.Results prove that the proposed solution protects cyber-physical systems against up to 92%of attacks and perturbations,with a computational delay below 2.5 s.The proposed model shows a linear complexity,as recursive or iterative structures are not employed,just algebraic and probabilistic functions.In conclusion,the new model and reconstructionmechanism can protect successfully cyber-physical systems against sparse sensor attacks,even in dense or pervasive deployments and scenarios.

关键词： cyber-physical systems sparse sensor attack non-linear models stochastic models security

Secure H_(∞) control against time-delay attacks in cyber-physical systems

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Journal of Control and Decision 2022年第4期9卷 420-430页

作者： Dan Jin Mingnan Hu Bo Chen Li Yu College of Information Science and Technology Zhejiang Shuren UniversityHangzhouPeople’s Republic of China Department of Automation Zhejiang University of TechnologyHangzhouPeople’s Republic of China

This paper is concerned with the secure H_(∞) control problem for cyber-physical systems(CPSs)under time-delay attacks,which cause the systems’information to be received with delays.Through transforming the H_(∞) control problem to a two-player zero-sum game problem,the H_(∞) controller can be obtained by solving the saddle point for the game.Due to the unknown system parameters,a model-free reinforcement learning(RL)method is applied,and the measurement feedback controller is designed based on the historical inputs and the tracking errors.To obviate the requirement of the initial admissible policy,the value iteration(VI)of the adaptive dynamic program(ADP)algorithm is proposed to solve the approximate saddle point.Moreover,the con-vergence of the proposed algorithm is proved.Finally,a networked circuit system is employed to show the effectiveness of the proposed methods.

关键词： Secure H_(∞)control time-delay attacks cyber-physical systems game theory

A Security Enhancement Model Based on Switching Edge Strategy in Interdependent Heterogeneous cyber-physical systems

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China Communications 2022年第2期19卷 158-173页

作者： Dandan Zhao Can Liu Guangquan Xu Zhiguo Ding Hao Peng Juan Yu Jianmin Han Zhejiang Normal University Jinhua 321004China Qingdao Huanghai University Qingdao 266427China Tianjin University Tianjin 300350China Key Laboratory of Intelligent Education Technology and Application of Zhejiang Province Zhejiang Normal UniversityJinhua 321004China

With the advent of cross-domain interconnection,large-scale sensor network systems such as smart grids,smart homes,and intelligent transportation have emerged.These complex network systems often have a CPS(cyber-physical System)architecture and are usually composed of multiple interdependent systems.Minimal faults between interdependent networks may cause serious cascading failures between the entire system.Therefore,in this paper,we will explore the robustness detection schemes for interdependent networks.Firstly,by calculating the largest giant connected component in the entire system,the security of interdependent network systems under different attack models is analyzed.Secondly,a comparative analysis of the cascade failure mechanism between interdependent networks under the edge enhancement strategy is carried out.Finally,the simulation results verify the impact of system reliability under different handover edge strategies and show how to choose a better handover strategy to enhance its robustness.The further research work in this paper can also help design how to reduce the interdependence between systems,thereby further optimizing the interdependent network system’s structure to provide practical support for reducing the cascading failures.In the later work,we hope to explore our proposed strategies in the network model of real-world or close to real networks.

关键词： security enhancement switching edge strategy interdependent systems cyber-physical systems

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Secure state estimation for cyber-physical systems with unknown input sliding mode observer

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Control Theory and Technology 2024年第2期22卷 244-253页

作者： Panpan Zhang Yuwei Ren Yixian Fang Ang Liu School of Information Science and Engineering Shandong Normal UniversityJinan250358ShandongChina School of Information Engineering Shandong Management UniversityJinan250357ShandongChina

In recent years, cyber attacks have posed great challenges to the development of cyber-physical systems. It is of great significance to study secure state estimation methods to ensure the safe and stable operation of the system. This paper proposes a secure state estimation for multi-input and multi-output continuous-time linear cyber-physical systems with sparse actuator and sensor attacks. First, for sparse sensor attacks, we propose an adaptive switching mechanism to mitigate the impact of sparse sensor attacks by filtering out their attack modes. Second, an unknown input sliding mode observer is designed to not only observe the system states, sensor attack signals, and measurement noise present in the system but also counteract the effects of sparse actuator attacks through an unknown input matrix. Finally, for the design of an unknown input sliding mode state observer, the feasibility of the observing system is demonstrated by means of Lyapunov functions. Additionally, simulation experiments are conducted to show the effectiveness of this method.

关键词： Sparse attacks cyber-physical systems Unknown input sliding mode Secure state estimation Adaptive switching mechanism

Passivity-Based Robust Control Against Quantified False Data Injection Attacks in cyber-physical systems

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IEEE/CAA Journal of Automatica Sinica 2021年第8期8卷 1440-1450页

作者： Yue Zhao Ze Chen Chunjie Zhou Yu-Chu Tian Yuanqing Qin Key Laboratory of Ministry of Education for Image Processing and Intelligent Control School of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China School of Computer Science Queensland University of TechnologyBrisbane QLD 4001Australia

Secure control against cyber attacks becomes increasingly significant in cyber-physical systems(CPSs).False data injection attacks are a class of cyber attacks that aim to compromise CPS functions by injecting false data such as sensor measurements and control signals.For quantified false data injection attacks,this paper establishes an effective defense framework from the energy conversion perspective.Then,we design an energy controller to dynamically adjust the system energy changes caused by unknown attacks.The designed energy controller stabilizes the attacked CPSs and ensures the dynamic performance of the system by adjusting the amount of damping injection.Moreover,with the disturbance attenuation technique,the burden of control system design is simplified because there is no need to design an attack observer.In addition,this secure control method is simple to implement because it avoids complicated mathematical operations.The effectiveness of our control method is demonstrated through an industrial CPS that controls a permanent magnet synchronous motor.

关键词： cyber-physical systems energy controller energy conversion false data injection attacks L2 disturbance attenuation technology

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