Hyperchaotic decision encryption method for agv control system based on generalized quasi-linear observer synchronization

Abstract

The application discloses a kind of superchaotic decision encryption method, device and storage medium of AGV control system based on generalized quasi-linear observer synchronization, AGV control system includes host computer, lower computer and communication module, and host computer and lower computer establish communication by communication module, this method includes: the speed control signal of AGV dolly is injected into Lorenz chaotic system by host computer, and generalized chaotic encryption system is constructed by Lorenz chaotic system through augmentation transformation;Generalized chaotic encryption system is received, and quasi-linear observer is constructed according to generalized chaotic encryption system;Based on quasi-linear observer solution, the effective solution of quasi-linear observer is obtained, and the encryption synchronization and transmission of the decision information of superchaotic system are realized.The method provided by the application converts the encryption decryption process of decision information into the synchronization process of the chaotic system of upper and lower computers once, without separately designing encryption decryption algorithm, with the advantages of being relatively efficient and easy to implement.

Description

TECHNICAL FIELD

[0001] The application relates to an AGV control system superchaotic decision encryption method and device based on generalized quasi-linear observer synchronization, a lower computer and a storage medium, and belongs to the technical field of control decision encryption. BACKGROUND

[0002] With the development of communication technology, communication security is paid more and more attention by researchers. The intelligent control process is inevitably subjected to malicious destructive attacks from the outside world, and faces serious information security problems. How to ensure the confidentiality, integrity, availability and anti-repudiation of communication data in the control process has become a key consideration in modern control engineering. With the in-depth study of traditional cryptography by scholars, it is found that the information utilization rate is relatively low. Through the study of chaotic systems, people find that the non-periodic ergodicity and sensitivity to initial state of chaotic signals as pseudo-random motion in deterministic systems make them have good concealment and unpredictability. This dynamic behavior can improve the security of secret communication and chaotic information encryption, and has higher efficiency. Therefore, chaotic systems have very broad application prospects in the field of information engineering, and the use of chaotic systems for data encryption has become a research hotspot in the control field.

[0003] Lin Qing et al. used optimized preprocessing to improve the randomness of chaotic sequences generated by hyperchaotic systems, and further created dynamic selection characteristics related to plaintext images, and successfully applied to image encryption ([1] Lin Qing, Wang Yanjiang, Wang Jun. Image encryption algorithm based on hyperchaotic system[J]. Science in China Series E: Technological Sciences, 2016(9): 9.). Tan Yun et al. used the chaotic vector output by the exponential compound chaotic system to construct the scrambling matrix, realized the encryption of plaintext image, and then realized the encryption of plaintext image by the chaotic matrix output by the chaotic system and the plaintext pixel matrix. It has the advantages of strong diffusion resistance and high security performance ([1] Tan Yun, Zhang Chunhu, Qin Jiaohua, Xiang Xuyu. Image encryption algorithm based on exponential compound chaotic system[J]. Journal of Wuhan University of Science and Technology (Natural Science Edition), 2021, 49(02): 121-126.). Han Fengying used the chaotic anti-control strategy of nonlinear system to strengthen the chaotic motion characteristics of the original system, thereby obtaining an image encryption effect with large key space and good diffusion scrambling performance ([1] Han Fengying. Application of chaotic anti-control of a class of nonlinear systems in image encryption[J]. Journal of Shaoyang University (Natural Science Edition), 2013, 10(01): 36-39.). Han Fei et al. generated encryption sequences based on hyperchaotic systems to generate private information keys related to plaintext data, improving the sensitivity of information sequences and having high resistance to attacks, and successfully applied to network user privacy information encryption ([1] Han Fei, Zhang Gexiang. Network user privacy information encryption simulation based on hyperchaotic system[J]. Computer Simulation, 2021, 38(12): 295-298.). Yu Zifang et al. used the chaotic constellation scrambling method of chaotic cross mapping to realize information encryption for coherent optical orthogonal frequency division multiplexing / offset quadrature amplitude modulation systems, improving the security of the system ([1] Yu Zifang, Fang Xi, Zhou Yang. Security-enhanced chaotic encryption of coherent optical orthogonal frequency division multiplexing / offset quadrature amplitude modulation systems[J]. Journal of Beijing University of Electronic Science and Technology, 2021, 29(03): 57-65.).

[0004] In 1990, American scientists Pecora L.M and Carroll T.L proposed the drive-response chaotic self-synchronization control, breaking the cognition that chaotic systems are uncontrollable, and arousing the interest of scholars in the control field in the method of chaotic synchronization for secret information. Since the synchronization encryption constraint that all state variables of the system can be obtained and can participate in control is relatively harsh, the observer theory is naturally introduced to design the chaotic synchronization system. It is worth noting that at present, most of the existing research methods consider the synchronization problem of chaotic systems and secret communication separately, which brings some problems: how to judge whether the receiving and transmitting ends have realized synchronization before secret communication; how to ensure the recovery of information signals due to unknown interference, which makes the synchronization effect unsatisfactory. SUMMARY

[0005] Therefore, the application provides an AGV control system superchaotic decision encryption method and device based on generalized quasi-linear observer synchronization, a lower computer and a storage medium.

[0006] The first object of the application is to provide an AGV control system superchaotic decision encryption method based on generalized quasi-linear observer synchronization.

[0007] The second object of the application is to provide an AGV control system superchaotic decision encryption device based on generalized quasi-linear observer synchronization.

[0008] The third object of the application is to provide a lower computer.

[0009] The fourth object of the application is to provide a storage medium.

[0010] The first object of the application can be achieved by adopting the following technical scheme:

[0011] An AGV control system superchaotic decision encryption method based on generalized quasi-linear observer synchronization, the AGV control system comprising an upper computer, a lower computer and a communication module, the upper computer and the lower computer establishing communication through the communication module, the method comprising:

[0012] injecting a speed control signal of an AGV trolley into a Lorenz chaotic system through the upper computer, and constructing a generalized chaotic encryption system through an augmented transformation of the Lorenz chaotic system;

[0013] receiving the generalized chaotic encryption system and constructing a quasi-linear observer according to the generalized chaotic encryption system;

[0014] solving based on the quasi-linear observer to obtain an effective solution of the quasi-linear observer, thereby realizing encryption synchronization and transmission of decision information of the superchaotic system.

[0015] Further, the Lorenz chaotic system is:

[0016]

[0017] wherein k=1, 2, 3, x k is a chaotic system state;

[0018] Let then the Lorenz chaotic system is expressed as:

[0019]

[0020] The Lorenz chaotic system is constructed into a generalized chaotic encryption system through an augmented transformation, including:

[0021] The corresponding augmented signal is constructed as Wherein, s is a speed control signal.

[0022] According to the augmented signal and the Lorenz chaotic system, a generalized chaotic encryption system is constructed as:

[0023]

[0024] The corresponding control output is y=[C D]ξ.

[0025] Further, a quasi-linear observer is constructed according to the generalized chaotic encryption system, including:

[0026]

[0027] Wherein, the matrix N(x1) is an arbitrary Hurwitz matrix.

[0028] Further, the solving based on the quasi-linear observer includes:

[0029] The matrix equation is:

[0030]

[0031] The matrix equation is transposed and geometrically transformed to obtain:

[0032]

[0033] Let Then the equation is:

[0034]

[0035] The equation is a full-drive Sylvester matrix, and the solution thereof is an observer coefficient matrix P(x1) and an auxiliary matrix W(x1), which are expressed in the following parameter form:

[0036]

[0037] Wherein, Θ(x1) is an arbitrary free matrix variable, the observer coefficient matrix N(x1) is an arbitrary Hurwitz matrix, and the observer coefficient Q(x1) is obtained from the formula (8).

[0038] Further, the effective solution of the quasi-linear observer is obtained, and encryption synchronization and transmission of decision information of the hyperchaotic system are realized, including:

[0039] From equation:

[0040]

[0041] The following matrix equation in the form of combination is obtained:

[0042]

[0043] The parameter form obtained by substituting formula (8) is:

[0044]

[0045] From formula (11), it can be seen that the existence conditions of the observer matrix L(x1) and Q(x1) are that there exist matrices Θ(x1) and M(x1) to make the following rank conditions:

[0046]

[0047] And is expressed as:

[0048]

[0049] According to the obtained effective solution (8) and (13), a specific observer in the form of formula (4) is constructed, the synchronization of the chaotic sending system is realized, and the encryption transmission of the control decision information is realized.

[0050] Further, the matrices P(x1), N(x1), L(x1), M(x1) and Q(x1) satisfy the following conditions respectively:

[0051]

[0052] The second object of the application can be achieved by adopting the following technical scheme:

[0053] A hyperchaotic decision encryption device of an AGV control system based on generalized quasi-linear observer synchronization, the AGV control system comprising an upper computer, a lower computer and a communication module, the upper computer and the lower computer establishing communication through the communication module, the device comprising:

[0054] A generalized chaotic encryption system construction module is used for injecting the speed control signal of the AGV car into the Lorenz chaotic system through the upper computer, and constructing a generalized chaotic encryption system through the Lorenz chaotic system through the augmented transformation;

[0055] A quasi-linear observer construction module is configured to receive the generalized chaotic encryption system and construct a quasi-linear observer according to the generalized chaotic encryption system.

[0056] A decision information encryption synchronization and transmission module is configured to obtain an effective solution of the quasi-linear observer based on the quasi-linear observer solution, and realize encryption synchronization and transmission of decision information of the hyperchaotic system.

[0057] The third object of the present application can be achieved by adopting the following technical solution:

[0058] A lower computer includes a processor and a memory for storing a program executable by the processor, and the processor implements the hyperchaotic decision encryption method when executing the program stored in the memory.

[0059] The fourth object of the present application can be achieved by adopting the following technical solution:

[0060] A storage medium stores a program, and the program is executed by a processor to implement the hyperchaotic decision encryption method.

[0061] The present application has the following beneficial effects relative to the prior art:

[0062] The method provided by the present application converts the encryption and decryption process of decision information into a one-time synchronization process of the chaotic system of the transceiving end (corresponding to the upper and lower computers), and does not need to separately design an encryption and decryption algorithm, and has the advantages of high efficiency and easy implementation, and ensures the confidentiality and integrity of the decision communication data in the AGV control system. BRIEF DESCRIPTION OF DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0064] Figure 1 The AGV synchronization encryption control relationship diagram based on the generalized quasi-linear observer of the present application embodiment 1.

[0065] Figure 2 The flowchart of the hyperchaotic decision encryption method of the AGV control system based on the generalized quasi-linear observer synchronization of the present application embodiment 1.

[0066] Figure 3 The observation effect of the quasi-linear observer on the generalized quasi-linear encryption system state of the present application embodiment 2.

[0067] Figure 4 The control strategy of Embodiment 2 of the present invention decrypts the synchronous transmission effect.

[0068] Figure 5 This is a diagram illustrating the RGB image decomposition process in Embodiment 3 of the present invention.

[0069] Figure 6 This is a structural block diagram of the hyperchaotic decision-making device of the AGV control system based on generalized quasi-linear observer synchronization according to Embodiment 4 of the present invention.

[0070] Figure 7 This is a structural block diagram of the lower-level machine in Embodiment 5 of the present invention. Detailed Implementation

[0071] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be understood that the specific embodiments described are merely used to explain this application and are not intended to limit this application.

[0072] Example 1:

[0073] like Figure 1 , 2 As shown, this embodiment provides a hyperchaotic decision encryption method for an AGV control system based on generalized quasi-linear observer synchronization. The AGV control system includes a host computer 1, a slave computer 2, and a communication module 3. The host computer 1 provides the speed control signal for the AGV and constructs a generalized chaotic encryption transmission system based on the Lorenz chaotic system. The slave computer 2 obtains an effective estimate of the observer based on the quasi-linear matrix equations obtained from the transmission system model, thereby realizing the decryption process of the decision information. The host computer 1 and the slave computer 2 establish communication through the communication module 3. The method includes:

[0074] S201. The speed control signal of the AGV is injected into the Lorenz chaotic system at the host computer sending end, and a generalized chaotic encryption system is constructed through augmented transformation.

[0075] At the sending end, consider the following hyperchaotic Lorenz system:

[0076]

[0077] Where x k Let k = 1, 2, 3 be the states of the chaotic system, and let... Then the system (1) can be expressed as:

[0078]

[0079] The corresponding host computer control decision signal s is introduced, which does not change the chaotic characteristics of the original system and is well hidden in the chaotic system randomness. The corresponding augmented signal is constructed Then the final sending system is changed to:

[0080]

[0081] The corresponding control output is y = [C D] ξ.

[0082] The task of the receiving end is to decrypt the host computer sending system control decision signal s according to the measurable signal y of the measurable sending system.

[0083] S202, the lower computer receives the generalized chaotic encryption system, and constructs a direct quasi-linear observer according to the generalized chaotic encryption system.

[0084] According to the generalized chaotic encryption system, the quasi-linear observer is proposed as follows:

[0085]

[0086] Using equations (3) and (4), the corresponding auxiliary observation error is defined as:

[0087]

[0088] Thus the state observation error is:

[0089]

[0090] The matrices P(x1), N(x1), L(x1), M(x1) and Q(x1) to be designed satisfy the following conditions respectively:

[0091]

[0092] Then:

[0093]

[0094] When the matrix N(x1) is any Hurwitz matrix, according to the stability criterion of continuous system, the error system (8) is stable, that is, the proposed dynamic system (4) is a reasonable quasi-linear observer of the sending system (3).

[0095] S203, based on the solution of the quasi-linear observer, the effective solution of the quasi-linear observer is obtained, and the encryption synchronization and transmission of the decision information of the hyperchaotic system are realized.

[0096] Solving the effective parameters of the designed observer includes:

[0097] For the matrix equation:

[0098]

[0099] After transposition and geometric transformation, we can get:

[0100]

[0101] Let Then we have:

[0102]

[0103] The equation is a full-drive Sylvester matrix, and its solution, the observer coefficient matrix P(x1) and the auxiliary matrix W(x1), can be expressed in the following parameter form:

[0104]

[0105] Where Θ(x1) is an arbitrary free matrix variable, and the observer coefficient matrix N(x1) is an arbitrary Hurwitz matrix; from (7), the observer coefficient Q(x1) can be directly obtained from (12).

[0106] Further, from:

[0107]

[0108] The following joint form of matrix equation can be obtained:

[0109]

[0110] Substituting (12) gives its parameter form:

[0111]

[0112] From equation (15), the existence conditions of its observer matrices L(x1) and Q(x1) are that there exist matrices Θ(x1) and M(x1) such that the following rank conditions are satisfied:

[0113]

[0114] And it is represented as:

[0115]

[0116] According to the obtained effective solutions (12) and (17), the specific observer as shown in (4) can be constructed to realize the synchronization of the chaotic sending system, thereby realizing the encrypted transmission of the control decision information.

[0117] Embodiment 2

[0118] For the Lorenz model as shown in formula (1), the related parameters are as follows:

[0119]

[0120] The control decision variable s sent by the upper computer in the AGV car control system is introduced, and the following sending end system can be finally constructed:

[0121]

[0122] Let

[0123]

[0124] The parameterized form of the rank condition (16) is as follows:

[0125]

[0126] According to the constraint rank F(M,Θ)=3, a group of special solutions can be obtained:

[0127]

[0128] Further obtained:

[0129]

[0130] The following observer is finally constructed in the lower computer:

[0131]

[0132] The encrypted transmission of the control signal is realized. The encryption synchronization and transmission effect of the AGV control system decision information is shown in Figures 3-4 . Wherein, Figure 3 is the observation of the state of the designed quasi-linear observer for the generalized quasi-linear encrypted system, wherein the solid line is the real state of the system, and the dotted line is the observation; Figure 4 is the control strategy decryption synchronization transmission condition. From the simulation experimental results, it can be seen that the designed quasi-linear observer well realizes the AGV control system control decision encryption synchronization transmission strategy.

[0133] Embodiment 3

[0134] Besides the AGV control system control strategy encryption transmission, in the wireless communication process, in order to effectively avoid the illegal persons to steal and use the information data by improper means, also can use this method to carry out encryption transmission, achieve the purpose of reducing privacy disclosure and public security and other problems. For example, for Figure 5 , the following dimension 3 data stream is converted: Figure 5

[0135] The final solution method and embodiment 1 are consistent, which realizes the encryption transmission process of image information.

[0136] Those skilled in the art can understand that all or part of the steps in the method of realizing the above-mentioned embodiments can be instructed by the program to the related hardware, and the corresponding program can be stored in the computer readable storage medium.

[0137] It should be noted that although the method operations of the above embodiments are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in that specific order, or that all of the shown operations must be performed to achieve the desired result. On the contrary, the depicted steps can change the order of execution. Additionally or alternatively, some steps can be omitted, combined into one step, and / or divided into multiple steps.

[0138] Embodiment 4:

[0139] As shown in

[0140] , the embodiment provides an AGV control system super chaotic decision encryption device based on generalized quasi-linear observer synchronization, the AGV control system includes host computer, lower computer and communication module, the host computer and lower computer establish communication through the communication module, the device includes generalized chaotic encryption system construction module 601, quasi-linear observer construction module 602 and decision information encryption synchronization and transmission module 603, wherein: Figure 6 The generalized chaotic encryption system construction module 601 is used for injecting the speed control signal of the AGV car into the Lorenz chaotic system through the host computer, and constructing a generalized chaotic encryption system through the Lorenz chaotic system by means of augmented transformation;

[0141] The quasi-linear observer construction module 602 is used for receiving the generalized chaotic encryption system, and constructing a quasi-linear observer according to the generalized chaotic encryption system;

[0142]

[0143] ​The decision information encryption synchronization and transmission module 603 is used to solve the quasi-linear observer and obtain the effective solution of the quasi-linear observer, thereby realizing the encryption synchronization and transmission of decision information for the hyperchaotic system.

[0144] The specific implementation of each module in this embodiment can be found in Embodiment 1 above, and will not be repeated here. It should be noted that the device provided in this embodiment is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure can be divided into different functional modules to complete all or part of the functions described above.

[0145] Example 5:

[0146] This embodiment provides a lower-level machine, which can be a computer, such as... Figure 7 As shown, the processor 702, memory, input device 703, display 704, and network interface 705 are connected via system bus 701. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium 706 and internal memory 707. The non-volatile storage medium 706 stores the operating system, computer programs, and database. The internal memory 707 provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. When the processor 702 executes the computer programs stored in the memory, it implements the hyperchaotic decision encryption method of Embodiment 1 described above, as follows:

[0147] The speed control signal of the AGV is injected into the Lorenz chaotic system through the host computer, and the Lorenz chaotic system is constructed into a generalized chaotic encryption system through augmented transformation.

[0148] Receive the generalized chaotic encryption system and construct a quasi-linear observer based on the generalized chaotic encryption system;

[0149] Based on the solution obtained by the quasi-linear observer, the effective solution of the quasi-linear observer is obtained, realizing the encrypted synchronization and transmission of decision information for hyperchaotic systems.

[0150] Example 6:

[0151] This embodiment provides a storage medium, which is a computer-readable storage medium, storing a computer program. When the computer program is executed by a processor, it implements the hyperchaotic decision encryption method of Embodiment 1 above, as follows:

[0152] The speed control signal of the AGV is injected into the Lorenz chaotic system through the host computer, and the Lorenz chaotic system is constructed into a generalized chaotic encryption system through augmented transformation.

[0153] receive the generalized chaotic encryption system, and construct a quasi-linear observer according to the generalized chaotic encryption system;

[0154] Based on the quasi-linear observer solving, an effective solution of the quasi-linear observer is obtained, and encryption synchronization and transmission of the decision information of the hyperchaotic system are realized.

[0155] It should be noted that the computer readable storage medium of the embodiment can be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0156] To sum up, the method and device for encrypting the decision of the AGV control system based on the generalized quasi-linear observer synchronization provided by the application, the method comprises the following steps: first, without changing the chaotic characteristics of the hyperchaotic sending system, injecting the decision information of the AGV control system into the sending system, regarding the decision information as the state variable of the system, and finally constructing a chaotic decision sending system in a generalized form; next, at the receiving end, designing a generalized quasi-linear observer, and realizing the synchronization of the state and the effective decision of the generalized chaotic system by using the hidden decision information transmitted by the sending system. The method provided by the application converts the encryption and decryption process of the decision information into a synchronization process of the chaotic system of the receiving and sending ends, and does not need to design an encryption and decryption algorithm separately, so that the method has the advantages of high efficiency and easy implementation.

[0157] The above is only a preferred embodiment of the application, but the protection scope of the application is not limited to this. Any person skilled in the art can make equivalent replacements or changes to the technical scheme and the inventive concept of the application within the scope disclosed by the application, and all of the above still belong to the protection scope of the application.

Claims

1. A super chaotic decision encryption method for AGV control system based on generalized quasi-linear observer synchronization, the AGV control system comprising a host computer, a lower computer and a communication module, the host computer and the lower computer establishing communication through the communication module, characterized in that, The method is applied to a lower computer and comprises the following steps: receiving a generalized chaotic encryption system sent by an upper computer, and constructing a quasi-linear observer according to the generalized chaotic encryption system; the generalized chaotic encryption system is obtained by injecting a speed control signal of an AGV into a Lorenz chaotic system through the upper computer, and then constructing the Lorenz chaotic system through an augmented transformation; solving based on the quasi-linear observer to obtain an effective solution of the quasi-linear observer, and realizing encryption synchronization and transmission of decision information of a hyperchaotic system; wherein the Lorenz chaotic system is as follows: In the formula, x k is the chaotic system state; constructing a generalized chaotic encryption system through the augmented transformation of the Lorenz chaotic system, comprising: The corresponding augmented signal is constructed as where s is a speed control signal. constructing the generalized chaotic encryption system according to the augmented signal and the Lorenz chaotic system as follows: the corresponding control output is y = [C D]ξ; the quasi-linear observer constructed according to the generalized chaotic encryption system is as follows: wherein the matrix N(x1) is an arbitrary Hurwitz matrix, and L(x1), M(x1) and Q(x1) are all to-be-designed matrices; the solving based on the quasi-linear observer comprises the following steps: the matrix equation is as follows: the matrix equation is transposed and geometrically transformed to obtain the following equation: Let The equation is: the equation is a full-drive Sylvester matrix, and the solution thereof is an observer coefficient matrix P(x1) and an auxiliary matrix W(x1), which are expressed in the following parameter form: wherein Θ(x1) is an arbitrary free matrix variable.

2. The hyperchaotic decision encryption method according to claim 1, wherein, the obtaining of the effective solution of the quasi-linear observer to realize the encryption synchronization and transmission of the decision information of the hyperchaotic system comprises the following steps: from the equation: a matrix equation in a joint form is obtained as follows: the parameter form obtained by substituting formula (7) is as follows: it is known from formula (10) that the existence conditions of the observer matrices L(x1) and Q(x1) are that there exist matrices Θ(x1) and M(x1) to make the following rank condition true: and are expressed as: according to the obtained effective solutions (7) and (12), a specific observer in the form of formula (3) is constructed, synchronization of the chaotic sending system is realized, and thus encryption transmission of control decision information is realized.

3. The hyperchaotic decisional encryption method according to any of claims 1, 2, characterized in that, the matrices P(x1), N(x1), L(x1), M(x1) and Q(x1) respectively satisfy the following conditions: I-M(x1)P(x1)[I 0]-Q(x1)[C D]=0.

4. A super-chaotic decision encryption device for an AGV control system based on generalized quasi-linear observer synchronization, the AGV control system comprising an upper computer, a lower computer and a communication module, the upper computer and the lower computer establishing communication through the communication module, characterized in that, The device is applied to a lower computer and comprises the following modules: a quasi-linear observer construction module, configured to receive a generalized chaotic encryption system sent by an upper computer, and construct a quasi-linear observer according to the generalized chaotic encryption system; the generalized chaotic encryption system is obtained by injecting a speed control signal of an AGV into a Lorenz chaotic system through the upper computer, and then constructing the Lorenz chaotic system through an augmented transformation; a decision information encryption synchronization and transmission module, configured to solve based on the quasi-linear observer to obtain an effective solution of the quasi-linear observer, and realize encryption synchronization and transmission of decision information of a hyperchaotic system; wherein the Lorenz chaotic system is as follows: In the formula, x k is the chaotic system state; constructing a generalized chaotic encryption system through the augmented transformation of the Lorenz chaotic system, comprising: The corresponding augmented signal is constructed as where s is a speed control signal. constructing the generalized chaotic encryption system according to the augmented signal and the Lorenz chaotic system as follows: The corresponding control output is y = [C D] ξ; The quasi-linear observer constructed according to the generalized chaotic encryption system is: In the formula, the matrix N(x1) is an arbitrary Hurwitz matrix, L(x1), M(x1) and Q(x1) are to-be-designed matrices; The solving based on the quasi-linear observer comprises: The matrix equation is: The matrix equation is transposed and geometrically transformed to obtain: Let The equation is: The equation is a full-drive Sylvester matrix, and the solution is an observer coefficient matrix P(x1) and an auxiliary matrix W(x1), which are expressed in the following parameter form: Wherein, Θ(x1) is an arbitrary free matrix variable.

5. A slave machine comprising a processor and a memory for storing a program executable by the processor, characterized by, The processor executes the program stored in the memory, and the super chaotic decision encryption method in any one of claims 1-3 is realized.

6. A storage medium storing a program, characterized by comprising: The program is executed by the processor, and the super chaotic decision encryption method in any one of claims 1-3 is realized.

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