Control method for processing teleoperation system under DOS attack

Abstract

The invention provides a control method for processing a teleoperation system under a DOS attack. The control method comprises the following steps of: constructing a parameter identification rule on a master mechanical arm and a slave mechanical arm by utilizing respective measurement information and received position information of the master mechanical arm and the slave mechanical arm respectively; designing event triggers on the master mechanical arm and the slave mechanical arm respectively; and considering communication time-varying delay, and designing moments of the master mechanical arm and the slave mechanical arm based on an event trigger communication mechanism to realize bilateral control of the teleoperation system. According to the control method, the stable tracking problem of the bilateral teleoperation system with uncertain parameters and time-varying delay in information transmission under the DOS is researched, and the parameter identification rule is constructed, so that an ideal parameter estimation value can be obtained when an excitation signal does not meet a continuous excitation condition, and the requirement on the transient performance of the teleoperation system can be met; and furthermore, the elastic event trigger is designed, so that data is sent as required, and the probability that the data is attacked on a communication network is reduced.

Description

technical field [0001] The invention relates to a controller structure and design method of a remote operating system under DOS attack, specifically a control method for processing a remote operating system under DOS attack based on an elastic event trigger mechanism, belonging to the technical field of teleoperation. Background technique [0002] With the increasing demand of human beings to explore unknown areas such as space and the ocean, in some places that humans cannot directly reach or are harmful to humans, the teleoperation system can replace us to complete the task, thereby avoiding the operator from being hurt. [0003] Generally speaking, a teleoperation system consists of a master manipulator, a communication channel, and a slave manipulator. Since the signal needs to be transmitted in the communication channel, there is often a delay in the information received by the master and slave ends of the remote control system, so the impact of the delay between the ma...

AI Technical Summary

Problems solved by technology

[0006] In the remote operating system that needs to use the communication network to transmit data, it is often subject to malicious attacks. Therefore, in order to maintain the stability of the remote operating system, it is necessary to consider the adverse effects of malicious attacks on stability.

At the same time, the remote operating system may also have uncertain model parameters, time-varying delays, etc.

These unfavorable factors will make the problem of bilateral control of the telesystem more complicated. Therefore, it is necessary to design a telesystem control method based on elastic event triggering, so that the telesystem can be quickly stabilized under the above conditions.

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