Due to the poor security level in current industrial network, the control performance of robots may be severely affected by cyber attacks. This paper studies the sensor attack reconstruction problem of mobile robots, where a switching Kalman fusion mechanism is proposed to reconstruct the sensor attacks online. It is shown that the proposed mechanism is better than the existing extended state observer and event-triggered sensor attack reconstruction strategy. The experiment test demonstrates the effectiveness and superiority of the proposed method.

中文翻译：

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通过切换卡尔曼融合机制为移动机器人重建传感器攻击

由于当前工业网络中的安全级别较差，机器人的控制性能可能会受到网络攻击的严重影响。本文研究了移动机器人的传感器攻击重构问题，提出了一种切换卡尔曼融合机制来在线重构传感器攻击。结果表明，所提出的机制优于现有的扩展状态观察器和事件触发的传感器攻击重建策略。实验测试证明了该方法的有效性和优越性。