A collaborative control method for multiple wheeled robots under dos attack

Abstract

The invention discloses a cooperative control method for multiple wheeled robots under DoS attack, which includes the following steps: Step S1: establishing a mathematical model of multiple wheeled robot systems; Step S2: designing and implementing a distributed model for resisting DoS attacks The controller of the predictive control method; step S3: proof of the effectiveness of the controller; step S4: use the designed controller to perform collaborative control on multiple wheeled robots, and verify the results. The distributed model predictive control method against DoS attack designed by the present invention is transformed into a method of researching a class of distributed model predictive control with communication delay by modeling the impact of DoS attack into a time-varying communication delay amount, It not only retains the characteristics of the model predictive control method that can deal with multivariable, constrained, and nonlinear problems, but also considers network communication and control performance at the same time. It has important engineering application value in the era when networked control systems are becoming more and more common.

Description

technical field [0001] The invention belongs to the technical field of control, and in particular relates to a collaborative control method for multiple wheeled robots under DoS attack. Background technique [0002] The dynamic model of wheeled robot is a nonlinear differential equation. When the multi-agent system composed of multiple wheeled robots communicates with each other through the network, it forms a networked nonlinear system. Since the network is used for communication, especially when the network is a wireless network, the channel for information exchange between each wheeled robot will be attacked by DoS, resulting in network delay, and its collaborative control requires the design of a control protocol. In the case of a DoS attack , through the control protocol, each wheeled robot interacts with each other and changes its own state, and finally all the wheeled robots converge to a stable point, which is the origin. Due to the limitation of system security, t...

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Problems solved by technology

[0003] Aiming at the problem of cooperative control of multiple wheeled robots under DoS attacks, some scholars apply traditional IT information security defense measures to solve the security problems of networked systems under DoS attacks, but lack of in-depth understanding of control devices and control bus protocols, some scholars The common security measures of traditional control systems such as fault-tolerant control and fault diagnosis are used to deal with it, but the influence of communication on control is ignored. Therefore, how to start from the essential characteristics of the deep integration of physical and information space, integrate network communication and control theory, and construct A technical solution to ensure multi-level security of physical equipment, information transmission, and control means is an urgent research direction

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