An Optimal Tracking Controller Design Method in the Existence of False Data Injection Attacks

A technology for tracking controllers and injecting attacks, which is applied in adaptive control, general control systems, control/regulation systems, etc., and can solve problems such as inability to track

Active Publication Date: 2021-11-05
神速智能农机装备(河南)有限公司
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Problems solved by technology

[0005] The purpose of the present invention is to propose a design method for the optimal tracking controller of a discrete-time system when there is a false data injection attack, which solves the problem that it cannot be tracked when there is a false data injection attack in the past

Method used

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  • An Optimal Tracking Controller Design Method in the Existence of False Data Injection Attacks
  • An Optimal Tracking Controller Design Method in the Existence of False Data Injection Attacks
  • An Optimal Tracking Controller Design Method in the Existence of False Data Injection Attacks

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specific Embodiment approach

[0013] refer to figure 1 , the invention proposes a method using game theory, adaptive dynamic programming and Q-learning, which solves the optimal tracking control problem of the discrete-time system. The specific implementation is as follows:

[0014] 1) Establish fake data attack model and augmented model

[0015] Consider the following system model

[0016] x k+1 =Ax k +Bu k (1)

[0017] Among them, A and B are system matrices; suppose the system control input u k Attacked during transmission, the system model after being attacked by fake data injection becomes

[0018]

[0019] Among them, q is the number of attackers, Indicates that the i-th transmission channel has been attacked by the j-th attacker, otherwise it has not been attacked; Fake data injected for the jth channel at time k.

[0020] Suppose the tracking model has the following form

[0021]

[0022] Among them, the matrix T is the tracking model matrix; it should be noted that the system m...

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Abstract

The invention relates to an intelligent tracking controller. When there is a false data injection attack, the controller can calculate the optimal tracking control law in real time, so that the output of the system can track the reference input of the system. The controller can contain different control algorithm processors, and adopts an adaptive dynamic programming algorithm based on game theory and Q-learning, which can be applied to the situation where the system dynamics are unknown, or even the situation where only input-output data can be obtained. The present invention is applicable to the situation of connecting the system and the controller through a wireless network, or the situation of transmitting data through a wireless communication network, and has great application value in the formation flight of drones and the formation control of intelligent vehicles.

Description

technical field [0001] The invention relates to a method for determining an optimal tracking controller when a false data injection attack exists in a linear discrete time system by using game theory, self-adaptive dynamic programming and reinforcement learning methods. Background technique [0002] Optimal tracking control is an important research topic in the field of control and has a wide range of application backgrounds. For example, trajectory tracking of smart cars and drones, tracking control of robots, etc. The purpose of optimal tracking control is to make the output of the system track the reference input (or reference trajectory) in an optimal sense, which can be realized by minimizing the pre-specified quadratic performance index function. It should be pointed out that with the development and application of network technology, wireless network transmission technology is more and more used in remote data transmission. However, due to the existence of wireless ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘皓
Owner 神速智能农机装备(河南)有限公司
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