Adaptive control of bilateral teleoperation system under denial of service attacks

The adaptive control of bilateral teleoperation system under denial of service (DoS) attacks is studied in this letter. The model of bilateral teleoperation system under DoS attacks is presented. The adaptive controllers are designed to deal with the influence of data missing caused by packet dropouts and DoS attacks. Two Bernoulli distributed variables are introduced to describe the system dynamic for the case that both packet dropouts and DoS attacks are involved in the communication channels. The globally asymptotically stability criterion is proposed by using Lyapunov functional methods, which implies the dynamics of the Master and the Slave are globally asymptotically synchronized. A numerical example of two degree of freedom bilateral teleoperation system is provided to show the effectiveness of obtained results.

[1]  Paulo Tabuada,et al.  Event-Triggered State Observers for Sparse Sensor Noise/Attacks , 2013, IEEE Transactions on Automatic Control.

[2]  Li Sheng,et al.  Uniform Quantized Synchronization for Chaotic Neural Networks with Successive Packet Dropouts , 2019 .

[3]  M. Shi,et al.  Adaptive control of teleoperation systems , 1999, Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304).

[4]  Xingjian Wang,et al.  Teleoperation Control Based on Combination of Wave Variable and Neural Networks , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[5]  Yen-Chen Liu,et al.  Passivity-based control framework for task-space bilateral teleoperation with parametric uncertainty over unreliable networks. , 2017, ISA transactions.

[6]  Jong Hyeon Park,et al.  Stable bilateral teleoperation under a time delay using a robust impedance control , 2005 .

[7]  S. Shankar Sastry,et al.  Safe and Secure Networked Control Systems under Denial-of-Service Attacks , 2009, HSCC.

[8]  Leonardo Amaral Mozelli,et al.  A simple algebraic criterion for stability of Bilateral Teleoperation Systems under time-varying delays , 2020 .

[9]  S. Shankar Sastry,et al.  Security of interdependent and identical networked control systems , 2013, Autom..

[10]  Panos J. Antsaklis,et al.  Risk-Sensitive Control Under Markov Modulated Denial-of-Service (DoS) Attack Strategies , 2015, IEEE Transactions on Automatic Control.

[11]  Rogelio Lozano,et al.  Synchronization of bilateral teleoperators with time delay , 2008, Autom..

[12]  Fazel Naghdy,et al.  Application of wave-variable control to bilateral teleoperation systems: A survey , 2014, Annu. Rev. Control..

[13]  Byeong-Yeon Kim,et al.  A design of bilateral teleoperation systems using composite adaptive controller , 2013 .

[14]  Peter Xiaoping Liu,et al.  Delay-Dependent Stability Criteria of Teleoperation Systems With Asymmetric Time-Varying Delays , 2010, IEEE Transactions on Robotics.

[15]  Mark W. Spong,et al.  Bilateral teleoperation: An historical survey , 2006, Autom..

[16]  Yang Xiang,et al.  A survey on security control and attack detection for industrial cyber-physical systems , 2018, Neurocomputing.

[17]  Yijun Zhang,et al.  Stability analysis of bilateral teleoperation system based on data sampling with time delay , 2017, 2017 Eighth International Conference on Intelligent Control and Information Processing (ICICIP).

[18]  Ling Shi,et al.  Optimal DoS Attack Scheduling in Wireless Networked Control System , 2016, IEEE Transactions on Control Systems Technology.

[19]  Zhiyuan Yan,et al.  A sensorless interaction forces estimator for bilateral teleoperation system based on online sparse Gaussian process regression , 2020 .

[20]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[21]  Riaz Uddin,et al.  Predictive control approaches for bilateral teleoperation , 2016, Annu. Rev. Control..

[22]  Kil To Chong,et al.  Design of feedforward and feedback position control for passive bilateral teleoperation with delays. , 2019, ISA transactions.

[23]  Riccardo Muradore,et al.  A Review of Bilateral Teleoperation Algorithms , 2016 .

[24]  Kittipong Yaovaja,et al.  Teleoperation of an Industrial Robot using a Non-Standalone 5G Mobile Network , 2019, 2019 IEEE Eurasia Conference on IOT, Communication and Engineering (ECICE).

[25]  Septimiu E. Salcudean,et al.  Adaptive transparent impedance reflecting teleoperation , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[26]  Mahdi Tavakoli,et al.  Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems , 2012 .

[27]  John Y. Hung,et al.  Denial of service attacks on network-based control systems: impact and mitigation , 2005, IEEE Transactions on Industrial Informatics.

[28]  Zhong-Hua Pang,et al.  Secure Networked Control Systems under Denial of Service Attacks , 2011 .

[29]  Yeong-Hwa Chang,et al.  Adaptive control for bilateral teleoperation systems with time-varying delays , 2018, 2018 IEEE International Conference on Applied System Invention (ICASI).

[30]  Weiping Li,et al.  Adaptive robot control: A new perspective , 1987, 26th IEEE Conference on Decision and Control.