发表机构
New Jersey Institute of Technology; De Montfort University（新泽西理工学院; 德蒙福特大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文针对四旋翼在虚假数据注入攻击下的安全问题，提出基于横向反馈线性化的路径跟踪控制器，实现前向路径不变性并保证任务成功，且通过仿真验证有效性。
AI 中文摘要
本文提出了一种用于四旋翼系统的路径跟踪控制器，以在存在网络物理攻击的情况下，通过前向路径不变性来保证安全机动。我们假设一个对抗性代理可以通过虚假数据注入（FDI）类型的攻击控制任意一个旋翼。利用横向反馈线性化设计了一个反馈控制器，该控制器保证系统在FDI攻击下遵循一类平滑曲线。我们提出的控制器计算效率高，具有闭式解析表达式，不仅能减轻有界恶意信号的影响，还能确保任务成功。我们在现实假设下提供了FDI攻击下前向路径不变性的理论保证，并通过仿真展示了我们方法的有效性。
英文摘要
This paper presents a path-following controller for a quadrotor system to guarantee safe maneuvers, in terms of forward path invariance, in the presence of cyber-physical attacks. We assume that an adversarial agent can control any one of the rotors through a false data injection (FDI) type of attack. A feedback controller is designed using transverse feedback linearization which guarantees that the system follows a class of smooth curves under FDI attacks. Our proposed controller is computationally efficient, with a closed-form analytical expression, that not only mitigates the effect of bounded malicious signal but also ensures mission success. We provide theoretical guarantees of forward path invariance under FDI attacks with realistic assumptions and demonstrate the effectiveness of our approach through simulation.
Comments6 pages, 3 figures, accepted paper at the American Control Conference (ACC)
