论文标题
通过攻击诊断的非线性网络物理系统的安全分布式自适应最佳协调
Secure distributed adaptive optimal coordination of nonlinear cyber-physical systems with attack diagnosis
论文作者
论文摘要
本文研究了在网络攻击的情况下，研究了一类非线性大规模网络物理系统（CPSS）的分布式最佳协调问题（DOC）。提出了具有攻击诊断的安全DOC架构，该架构保证了无攻击子系统以达到输出共识，从而最大程度地减少其目标函数的总和，而受攻击的子系统则融合了以预设安全状态。建立了两层DOC结构，重点是网络和物理层之间的相互作用，在该结构中设计了命令驱动的控制定律，以生成可证明的最佳输出共识。与现有的故障诊断方法不同，通常适用于给定的故障类型，攻击诊断的重点是实现对任意恶意行为的检测和隔离。为此，双耦合残差是由精心设计的分布式过滤器生成的。具有规定性能的自适应阈值旨在增强可检测性和隔离性。从理论上讲，任何攻击信号都不能绕过设计的攻击诊断方法来破坏DOC算法的收敛性，并且可以从相邻子系统的传播攻击中隔离局部可检测的攻击。多个远程操作的水下车辆运动协调的模拟结果说明了拟议的建筑的有效性。
This paper studies the problem of distributed optimal coordination (DOC) for a class of nonlinear large-scale cyber-physical systems (CPSs) in the presence of cyber attacks. A secure DOC architecture with attack diagnosis is proposed that guarantees the attack-free subsystems to achieve the output consensus which minimizes the sum of their objective functions, while the attacked subsystems converge to preset secure states. A two-layer DOC structure is established with emphasis on the interactions between cyber and physical layers, where a command-driven control law is designed that generates provable optimal output consensus. Differing from the existing fault diagnosis methods which are generally applicable to given failure types, the focus of the attack diagnosis is to achieve detection and isolation for arbitrary malicious behaviors. To this end, double coupling residuals are generated by a carefully-designed distributed filter. The adaptive thresholds with prescribed performance are designed to enhance the detectability and isolability. It is theoretically guaranteed that any attack signal cannot bypass the designed attack diagnosis methodology to destroy the convergence of the DOC algorithm, and the locally-occurring detectable attack can be isolated from the propagating attacks from neighboring subsystems. Simulation results for the motion coordination of multiple remotely operated underwater vehicles illustrate the effectiveness of the proposed architecture.
