Safety control method for cooperative adaptive cruise control system under network attack
A technology of adaptive cruising and network attack, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems that the communication of handling robots has not been well studied
Pending Publication Date: 2022-06-24
WINGIN BUSINESS-INTELLIGENCE ACAD NANJING CO LTD
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Problems solved by technology
Currently for CACC systems, the communication between handling robots under cyber attack has not been well studied
Method used
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[0119] The present invention will be further described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0120] The design process of the safety control method of the cooperative adaptive cruise system provided by the present invention is as follows: figure 1 As shown, the specific steps include:
[0121] Step S1, firstly establish a cooperative adaptive cruise control model and preliminarily design a controller model. The configuration of the handling robot equipped with CACC is as follows: figure 2 shown. specifically,
[0122] Step S1.1. Represent the dynamical system as having position p i and the desired acceleration u i transfer function of
[0123] ...
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The invention discloses a safety control method of a cooperative adaptive cruise control system under network attacks, and summarizes stable control of distance error, speed and acceleration between transfer robots. In order to simulate the actual situation, the spoofing attack is considered on a communication channel between two adjacent transfer robots, and the occurrence of the spoofing attack is described through Bernoulli variables with special distribution. By considering the influence of spoofing attacks, a final mathematical model of CACC under network attacks is constructed. The method comprises the following steps: firstly, preliminarily establishing a CACC model, and preliminarily designing a controller model; and then, considering the influence on network transmission data under a deception network attack condition, establishing a network attack model, and further improving a controller model and a cooperative adaptive cruise control model. And meanwhile, the stability of the cooperative adaptive cruise control system is proved under external disturbance. A Lyapunov stability theory is utilized to obtain a sufficiency condition for ensuring system index mean square stability, and gains are obtained on the basis of solving a linear inequality.
Description
technical field [0001] The invention relates to the technical field of cooperative adaptive cruise control, and mainly relates to a security control method of a cooperative adaptive cruise system under network attack. Background technique [0002] In large-scale grain storage bases, with the increase of warehouse storage capacity and the increase of the area used, traditional handling is not suitable for the current development background. Handling equipment and control algorithms realize the innovative mode of human-machine cooperation to replace traditional manual handling. The application of handling robots in enterprise production can not only improve efficiency, realize the integration and automation of logistics, but also free people from dangerous, stubborn and heavy working environments, showing great advantages. Under this circumstance, many new technologies have emerged in recent years, among which cooperative adaptive cruise control (CACC) has attracted the most ...
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Login to View More IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 曹杰刘金良丁达毛波申冬琴张洋
Owner WINGIN BUSINESS-INTELLIGENCE ACAD NANJING CO LTD