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Sensor attack reconstruction for mobile robots via a switching Kalman fusion mechanism

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Abstract

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.

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Acknowledgements

This work was supported in part by the National Natural Science Foundation of China under Grant Nos. 61803334, 61822311, 61703148 and 61673351, in part by the Zhejiang Provincial Natural Science Foundation of China under Grant LQ18F030012, in part by the Natural Science Foundation of Heilongjiang Province under Grant F2017023, in part by the State Scholarship Fund of China Scholarship Council under Scholarship 201908330040, in part by the Outstanding Youth Fund of Heilongjiang University JCL201903, and in part by the NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization under Grant U1709213.

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Authors and Affiliations

  1. Department of Automation, Zhejiang University of Technology, Hangzhou, 310023, China

    Jun-Wei Zhu, Qi Wang, Wen-An Zhang & Li Yu

  2. School of Mathematical Science, Heilongjiang University, Harbin, 150080, China

    Xin Wang

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  1. Jun-Wei Zhu
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  5. Xin Wang
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Correspondence to Jun-Wei Zhu.

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Zhu, JW., Wang, Q., Zhang, WA. et al. Sensor attack reconstruction for mobile robots via a switching Kalman fusion mechanism. Nonlinear Dyn 102, 151–161 (2020). https://doi.org/10.1007/s11071-020-05905-y

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